Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	3 Months Ended		9 Months Ended
	Jan. 31, 2023	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Share-based Compensation
Total grant date fair value of options vested		$ 400	$ 800	$ 1,700	$ 2,600
Weighted-average grant date fair value of options granted				$ 3.85	$ 5.40
Shares available for future issuance (in shares)		599,403		599,403		689,472
Issuance of common stock under Employee Stock Purchase Plan				$ 181	$ 167
Issuance of common stock under Employee Stock Purchase Plan (in shares)				40,894	37,017
Stock options
Share-based Compensation
Unrecognized compensation expense related to unvested options		$ 2,800		$ 2,800
Unrecognized compensation expense, weighted-average period expected to be recognized				1 year 9 months 18 days
ESPP
Share-based Compensation
Increase in number of shares reserved for issuance (in shares)	203,742
Shares available for future issuance (in shares)		936,985		936,985