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Stock Option Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Estimated weighted average amortization period     3 years 3 months 25 days  
Unrecognized compensation expense $ 6,900   $ 6,900  
Number of stock options granted   0 2,374,955  
Option vested fair value $ 633 $ 739 $ 1,600 $ 1,800
Number of stock options vested 164,728 60,911 278,658 91,466
Weighted average grant date fair value of options granted $ 2.18 $ 0 $ 2.99 $ 4.09
Restricted Stock [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Estimated weighted average amortization period     2 years 1 month 9 days  
Unrecognized equity-based compensation $ 357   $ 357  
Fair Value of shares vested $ 48   $ 177  
Number of shares vested     31,343  
Restricted Stock Units (RSUs) [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Number of shares vested     31,343  
Restricted Stock Units (RSUs) [Member] | Vested with a Fair Value of Eighty Thousand [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Number of shares vested 4,183   18,527  
2014 Equity Incentive Plan [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Common stock reserved for future issuance 728,650   728,650  
Common stock available for grant 297,687   297,687  
Number of stock options granted     430,963  
Omnibus Equity Incentive Plan [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Common stock reserved for future issuance 1,100,000   1,100,000  
Common stock reserved for future issuance increased, percentage     2.00%  
2021 Equity Incentive Plan [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Number of Shares Authorized 3,900,000   3,900,000  
Common stock reserved for future issuance 5,500,000   5,500,000  
Common stock available for grant 2,767,789   2,767,789  
Number of stock options granted     2,732,211  
Additional Shares available for issuance not exceed     500,000