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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
May 31, 2021
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Mar. 31, 2022
Jul. 26, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Weighted average grant-date fair value of stock options granted   $ 0.81 $ 0.82 $ 0.81 $ 0.92    
Fair value of stock price       $ 1.04      
Stock-based compensation expense   $ 855,000 $ 1,194,000 $ 1,732,000 $ 2,249,000    
Unrecognized compensation expense   5,600,000   $ 5,600,000      
Weighted-average period over which unrecognized compensation expense is expected to be recognized       2 years 25 days      
Restricted Stock Units (RSUs)              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Service-based awards vesting percentage       6.25%      
Stock awards granted       1,100,000      
Unrecognized compensation expense           $ 158,000  
Performance Stock Options and Restricted Stock Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Unrecognized compensation expense   $ 200,000   $ 200,000      
2020 Inducement Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares reserved for future grant             500,000
Shares available for issuance   100,000   100,000      
2021 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Service-based awards, vesting period 4 years            
Service-based awards vesting description       vested over a four-year period, with the first 25% of such awards vesting following twelve months of continued employment or service with the remaining awards vesting monthly in equal installments over the following thirty-six months      
Shares available for issuance 1,000,000 187,277   187,277      
Additional shares available for grant     1,500,000   1,500,000    
2021 Equity Incentive Plan | Board of Directors              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Service-based awards, vesting period 3 years     12 months      
Service-based awards vesting description       vesting occurs in thirty-six equal monthly installments over a three-year period for initial grants and in twelve equal monthly installments over a twelve-month period for subsequent grants      
2021 Equity Incentive Plan | Following Twelve Months of Service              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Service-based awards vesting percentage 25.00%            
2017 Employee Stock Purchase Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Eligible employees withhold percentage of earnings to purchase shares of common stock 15.00%            
Shares available for future issuance   521,522   521,522      
Shares reserved for issuance increase percentage of total number of shares of common stock outstanding 1.00%            
Shares Issued under plan       7,000      
Stock-based compensation expense   $ 2,000 $ 0 $ 4,000 $ 0    
2017 Employee Stock Purchase Plan | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares of common stock reserved for issuance increase on of each calendar year 300,000            
2017 Employee Stock Purchase Plan | On First Date of Offering | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Percentage of fair market value of share of common stock to purchase 85.00%            
2017 Employee Stock Purchase Plan | On Date of Purchase | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Percentage of fair market value of share of common stock to purchase 85.00%