Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Additional Information (Details)

v3.24.0.1
Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 12 Months Ended
Jun. 03, 2021
Jul. 31, 2021
Dec. 31, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment award, options, outstanding, number (in shares)     1,478,157 1,398,286
Granted (in usd per share)     $ 5.85  
Purchase plan, shares purchased (in shares)     84,430  
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percent of fair market value of common stock on the date of grant threshold     100.00%  
Expiration period     10 years  
Non-vested Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Granted (in usd per share)     $ 5.85 $ 8.21
Intrinsic value of stock options exercised     $ 100 $ 300
Grant-date fair value of stock options vested     900 900
RSAs and RSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value of RSAs vested     $ 3,100 $ 1,600
RSAs and RSUs | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vest in annual installments     2 years  
RSAs and RSUs | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vest in annual installments     3 years  
2013 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock, capital shares reserved for future issuance (in shares)     4,156,250  
Share-based payment award, options, outstanding, number (in shares)     2,110,835  
Shares available for grant (in shares)     421,940  
Employee Stock Purchase Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant (in shares) 400,000   236,091  
Granted (in usd per share)     $ 2.57 $ 4.14
Purchase plan, purchase price of common stock, percent of fair value 85.00%      
Purchase plan, maximum employee subscription rate 15.00%      
Purchase plan, maximum purchase value during offering period, per employee $ 25      
Purchase plan, maximum number of shares per employee (in shares) 3,500      
Purchase period 6 months 6 months    
Purchase plan, per share weighted average price of shares purchased (in usd per share)     $ 6.00  
Related Party | RSAs and RSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vest in annual installments     1 year