Stock-Based Compensation - Summary of Shares Available for Issuance Under 2020 Plan (Details)	3 Months Ended
	Mar. 31, 2024 shares
2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Balance	294,000
Authorized	566,000
Granted/Awarded	(31,000)
Cancelled/Forfeited	140,000
Balance	969,000
Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Authorized	100,000
Granted/Awarded	(4,000)
Balance	96,000