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Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Apr. 30, 2021
Apr. 30, 2020
Apr. 30, 2019
Feb. 28, 2010
Mar. 31, 2022
Mar. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Increase in number of shares reserved (in shares) 2,200,000 1,300,000        
Stock price (in dollars per share)         $ 5.59  
Total unrecognized stock-based compensation expense related to stock options granted         $ 15,000  
Stock-based compensation expense         $ 1,267 $ 1,204
2019 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock available for future issuance (in shares)         288,181  
2019 Equity Incentive Plan | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share of common stock authorized (in shares)         4,500,000  
Common stock reserved for issuance (in shares)         1,068,901  
Employee Stock Purchase Plan, 2010            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock available for future issuance (in shares)         0  
Stock Options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Awards, vesting period     4 years      
Awards, expiration period     10 years      
Weighted-average grant date fair value of stock options granted (in dollars per share)         $ 2.91 $ 7.03
Total unrecognized stock-based compensation expense, weighted-average period Recognition         3 years 3 months 25 days  
Stock Options | Minimum | Participants Who Own Less Than Ten Percent Of Combined Voting Power            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Exercise price of incentive stock options as percentage of fair market value of common stock on the date of the award     100.00%      
Stock Options | Maximum | Participants Who Own More than 10% of Total Combined Voting Power            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Exercise price of incentive stock options as percentage of fair market value of common stock on the date of the award     110.00%      
Employee Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Increase in number of shares reserved (in shares) 500,000          
Share of common stock authorized (in shares) 576,400          
Purchase price of common stock, percentage       85.00%    
Purchase period       6 months    
Shares reserved for issuance (in shares)         412,403  
Share sold in period (in shares)         0 0
Stock-based compensation expense         $ 100 $ 100