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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jul. 31, 2020
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Weighted average grant date fair value of options granted   $ 4.48   $ 3.90                  
Total fair value of options vested   $ 503   $ 1,050                  
Total unrecognized compensation expense   $ 3,490   $ 3,490                  
Total unrecognized compensation expense, weighted-average period of recognition       2 years 10 months 24 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]                          
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   340,000   340,000                  
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 year 1 month 6 days                      
Total fair value of restricted stock awards vested   $ 1,421   $ 4,933                  
Total unrecognized compensation expense   5,129   $ 5,129                  
Restricted Stock Awards | Forecast                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Number of restricted stock awards are expected to vest           75,000 174,000 136,000 237,000 113,000 113,000    
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%                  
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                  
2020 Incentive Award Plan                          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                          
Common stock reserved for issuance 3,333,000                     4,429,000  
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   $ 482   $ 482                  
Total unrecognized compensation expense, weighted-average period of recognition       2 years 8 months 12 days