Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	1 Months Ended	3 Months Ended		9 Months Ended
	Jan. 31, 2024	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023	Dec. 31, 2023
Share-based Compensation
Total grant date fair value of options vested		$ 0.3	$ 0.4	$ 0.9	$ 1.7
Weighted-average grant date fair value of options granted					$ 3.85
Shares available for future issuance (in shares)		487,962		487,962		598,397
Issuance of common stock under Employee Stock Purchase Plan				$ 0.2	$ 0.2
Issuance of common stock under Employee Stock Purchase Plan (in shares)		0	0	37,696	40,894
Number of Options, Options granted		0	0	0
Options remained outstanding		1,652,439		1,652,439		1,829,428
Employee Stock Option
Share-based Compensation
Unrecognized stock-based compensation expense		$ 1.0		$ 1.0
Unrecognized compensation expense, weighted-average period expected to be recognized				1 year 25 days
ESPP
Share-based Compensation
Increase in number of shares reserved for issuance (in shares)	210,804
Shares available for future issuance (in shares)		1,063,270		1,063,270