Stock-Based Compensation - Summary of Stock Options Outstanding And Vested (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	1,974,000
Options outstanding, Weighted average remaining contractual term (in years)	8 years
Options outstanding, Weighted average exercise price	$ 5.31
Options vested, Number Exercisable | shares	960,000
Options vested, Weighted average exercise price	$ 6.48
Exercise Price $2.15 - $3.10
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	361,000
Options outstanding, Weighted average remaining contractual term (in years)	9 years
Options outstanding, Weighted average exercise price	$ 2.66
Exercise Price $2.15 - $3.10 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	2.15
Exercise price range (upper)	$ 3.1
Exercise Price $3.23
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	436,000
Options outstanding, Weighted average remaining contractual term (in years)	9 years 1 month 6 days
Options outstanding, Weighted average exercise price	$ 3.23
Options vested, Number Exercisable | shares	149,000
Options vested, Weighted average exercise price	$ 3.23
Exercise Price $3.23 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	$ 3.23
Exercise Price $3.27 - $5.95
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	32,000
Options outstanding, Weighted average remaining contractual term (in years)	8 years 7 months 6 days
Options outstanding, Weighted average exercise price	$ 5.42
Options vested, Number Exercisable | shares	10,000
Options vested, Weighted average exercise price	$ 5.78
Exercise Price $3.27 - $5.95 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	3.27
Exercise price range (upper)	$ 5.95
Exercise Price $6.04
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	415,000
Options outstanding, Weighted average remaining contractual term (in years)	8 years
Options outstanding, Weighted average exercise price	$ 6.04
Options vested, Number Exercisable | shares	199,000
Options vested, Weighted average exercise price	$ 6.04
Exercise Price $6.04 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	$ 6.04
Exercise Price $6.07 - $8.62
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	730,000
Options outstanding, Weighted average remaining contractual term (in years)	6 years 8 months 12 days
Options outstanding, Weighted average exercise price	$ 7.44
Options vested, Number Exercisable | shares	602,000
Options vested, Weighted average exercise price	$ 7.45
Exercise Price $6.07 - $8.62 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	6.07
Exercise price range (upper)	$ 8.62