Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	Jan. 01, 2021	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum percentage of fair value of common stock		100.00%
Exercises in period, intrinsic value		$ 0	$ 13	$ 42
Options granted, weighted average grant date fair value (in dollars per share)		$ 1.38	$ 5.17	$ 6.12
Total stock-based compensation		$ 5,199	$ 6,180	$ 5,428
Incentive Stock Options and Restricted Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares based compensation, vested period (in years)		4 years
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share based compensation, restricted stock units granted (in shares)		1,814,425
Share based compensation, restricted stock units granted (in dollars per share)		$ 2.09
Unrecognized compensation cost of stock based awards		$ 4,400
Unrecognized compensation cost of stock based awards, recognition period		1 year 6 months
Stock Appreciation Rights (SARs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation		$ 373
Two Thousand Seventeen Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, reserved for future issuance (in shares)	4,800,000	298,000
Aggregate intrinsic value, options exercised		4.00%
Two Thousand Seventeen Equity Incentive Plan | Employee Stock Purchase Plans
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, shares issued in period (in shares)		204,903
Share-based compensation arrangement by share-based payment award, number of shares available for grant (in shares)		64,000
Share-based compensation arrangement by share-based payment award, number of additional shares authorized (in shares)	85,000
Two Thousand Nineteen Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, authorized (in shares)		2,300,000
Common stock, reserved for future issuance (in shares)		1,300,000
Two Thousand Fifteen Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, reserved for future issuance (in shares)		19,000
Minimum | Non-Statutory Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares based compensation, vested period (in years)		3 years
Maximum | Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expiration period (in years)		10 years
Maximum | Non-Statutory Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares based compensation, vested period (in years)		4 years