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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Jul. 31, 2020
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2023
Dec. 31, 2022
Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Weighted average grant date fair value of options granted   $ 1.98   $ 1.94        
Total fair value of options vested   $ 655   $ 2,445        
Total unrecognized compensation expense   $ 2,927   $ 2,927        
Total unrecognized compensation expense, weighted-average period of recognition       2 years 2 months 12 days        
Dividends   0.00% 0.00% 0.00% 0.00%      
Common stock, shares authorized   150,000,000   150,000,000     150,000,000  
2020 Employee Stock Purchase Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved   216   216        
Percentage of outstanding shares of common stock       1.00%        
Exercise price of option on fair value (as a percent)       85.00%        
Common stock, shares authorized   451,000   451,000       340,000
Shares of common stock have been issued to employees       235        
Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Award vesting percentage       10.00%        
Restricted Stock Awards                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Total unrecognized compensation expense, weighted-average period of recognition       1 month 15 days        
Total fair value of restricted stock awards vested   $ 1,768   $ 5,574        
Total unrecognized compensation expense   89   89        
Restricted Stock Awards | Forecast                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Number of restricted stock awards are expected to vest           75,000    
Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Fair value of restricted stock units vested   $ 160   $ 431        
Minimum | Incentive Stock Options And Nonqualified Stock Options                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period       1 year        
Minimum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Exercise price of option on fair value (as a percent)       100.00%        
Minimum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Exercise price of option on fair value (as a percent)       110.00%        
Minimum | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period       1 year        
Maximum | Incentive Stock Options And Nonqualified Stock Options                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of contract       10 years        
Vesting period       4 years        
Maximum | Incentive Stock Options And Nonqualified Stock Options | Share-based Payment Arrangement, Tranche One                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of contract       10 years        
Maximum | Incentive Stock Options | Share-based Payment Arrangement, Tranche Two                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Term of contract       5 years        
Maximum | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Vesting period       4 years        
2020 Incentive Award Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved 3,333,000 4,984,000   4,984,000        
Percentage of outstanding shares of common stock 5.00%              
2020 Incentive Award Plan | Restricted Stock Units                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Total unrecognized compensation expense   $ 1,117   $ 1,117        
Total unrecognized compensation expense, weighted-average period of recognition       1 year 6 months