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Stock-Based Compensation - Restricted Stock Units (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Jan. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
2020 Plan      
Weighted-Average Grant Date Fair Value      
Stock option outstanding   1,501,193 1,864,739
Restricted stock units      
Weighted-Average Grant Date Fair Value      
Total fair value of the restricted stock units granted   $ 0.3 $ 2.4
Unrecognized compensation costs   $ 0.8  
Weighted-average recognition period   2 years  
Restricted stock units | Minimum      
Weighted-Average Grant Date Fair Value      
Vesting period   3 years  
Restricted stock units | Minimum | President and Chief Executive Officer      
Weighted-Average Grant Date Fair Value      
Vesting period   2 years  
Restricted stock units | Maximum      
Weighted-Average Grant Date Fair Value      
Vesting period   4 years  
Restricted stock units | Maximum | President and Chief Executive Officer      
Weighted-Average Grant Date Fair Value      
Vesting period   3 years  
Restricted stock units | 2020 Plan      
Number of Shares Underlying RSUs      
Unvested at the beginning   372,307  
Granted   122,000  
Vested   (75,996)  
Forfeited   (82,703)  
Outstanding at the end   335,608 372,307
Weighted-Average Grant Date Fair Value      
Unvested at the beginning (in dollars per share)   $ 5.90  
Granted (in dollars per share)   2.12  
Vested (in dollars per share)   11.69  
Forfeited (in dollars per share)   3.93  
Unvested at the ending (in dollars per share)   $ 3.64 $ 5.90
Shares outstanding on RSU awards   335,608 372,307
Restricted stock units | 2020 Plan | Class A Common stock      
Number of Shares Underlying RSUs      
Granted 2,267,500    
Market condition stock option awards      
Number of Shares Underlying RSUs      
Outstanding at the end   89,894  
Weighted-Average Grant Date Fair Value      
Stock option outstanding   182,511  
Shares outstanding on RSU awards   89,894