Stock-Based Compensation - Summary of Option Activity Under 2011 Plan and 2020 Plan (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of Shares, Granted	0	0
2011 Plan and 2020 Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of Shares Outstanding, Beginning Balance	732,395	609,895
Number of Shares, Granted	111,668	144,982
Number of Shares, Exercised		(3,643)
Number of Shares, Forfeited	(4,540)	(18,839)
Number of Shares Outstanding, Ending Balance	839,523	732,395	609,895
Number of Shares, Exercisable	648,979
Weighted Average Exercise Price, Outstanding Beginning Balance	$ 13.14	$ 14.58
Weighted Average Exercise Price ,Granted	3.03	6
Exercised, weighted average exercise price (in dollars per share)		12.12
Forfeited, weighted average exercise price (in dollars per share)	10.74	7.68
Weighted Average Exercise Price, Outstanding Ending Balance	11.9	$ 13.14	$ 14.58
Weighted Average Exercise Price, Exercisable	$ 13.91
Weighted Average Remaining Contractual Term (In Years), Outstanding Beginning Balance	5 years 3 months 18 days	6 years 2 months 12 days	6 years 11 months 26 days
Weighted Average Remaining Contractual Term (In Years), Outstanding Ending Balance	5 years 3 months 18 days	6 years 2 months 12 days	6 years 11 months 26 days
Weighted Average Remaining Contractual Term (In Years), Exercisable	5 years 1 month 17 days