Stock-Based Compensation - Additional Information (Details) - USD ($)			12 Months Ended
	May 20, 2021	Oct. 07, 2016	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation
Total grant date fair value of options vested			$ 2,000,000.0	$ 1,300,000
Weighted-average grant date fair value of options granted			$ 3.85	$ 5.40
Shares available for future issuance (in shares)			598,397	689,472
Issuance of common stock under stock incentive plans and exercise of stock options			$ 1,198,000	$ 889,000
Number of Options, Options granted			8,000
Options remained outstanding			1,829,428	1,994,726
Employee Stock Option
Share-based Compensation
Unrecognized stock-based compensation expense			$ 2,300,000
Unrecognized compensation expense, weighted-average period expected to be recognized			1 year 8 months 12 days
2016 Employee Incentive Plan
Share-based Compensation
Maximum number of common stock shares may be issued under the plan		500,000
Annual increases in the number of shares available for issuance, percentage of outstanding capital stock		3.00%
Increase in number of shares reserved for issuance (in shares)	550,000
Shares available for future issuance (in shares)			598,397
Number of shares reserved and available for future issuance			3,297,663
2008 Equity Incentive Plan
Share-based Compensation
Number of Options, Options granted			0
Options remained outstanding			35,943
ESPP
Share-based Compensation
Shares available for future issuance (in shares)			890,161
Number of shares issued (in shares)			87,718	77,221
Issuance of common stock under stock incentive plans and exercise of stock options			$ 394,000	$ 342,000
Issuance of common stock under stock incentive plans and exercise of stock options (in shares)			87,718	77,221