Stock-Based Compensation - Summary of Restricted Stock Units Activity (Details) - 2020 Incentive Award Plan - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Granted, Number of Units	546
Non-vested at end of the period, Number of Units	483
Granted, Weighted-average grant-date fair value per share	$ 2.73
Non-vested at ending of year, Weighted-average grant-date fair value per share	$ 3.04
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Non-vested at beginning of year, Number of Units	86
Granted, Number of Units		86
Non-vested at end of the period, Number of Units		86
Non-vested at beginning of year, Weighted-average grant-date fair value per share	$ 6.33
Granted, Weighted-average grant-date fair value per share		$ 6.33
Non-vested at ending of year, Weighted-average grant-date fair value per share		$ 6.33