Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Jan. 01, 2021
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		$ 1	$ 13
Options granted, weighted average grant date fair value (in dollars per share)	$ 0.97	$ 1.38	$ 5.17
Total stock-based compensation	$ 8,687	$ 5,199	$ 6,180
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)	30,000
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)	181,000			6,700,000
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)	257,963
Share-based compensation arrangement by share-based payment award, number of shares available for grant (in shares)	4,900,000
Two Thousand Nineteen Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, reserved for future issuance (in shares)	1,500,000
Common stock, authorized (in shares)	6,300,000
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)	5,332,051
Share based compensation, restricted stock units granted (in dollars per share)	$ 1.76
Unrecognized compensation cost of stock based awards	$ 4,300
Unrecognized compensation cost of stock based awards, recognition period	2 years 6 months
Stock Appreciation Rights (SARs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	$ 1,900	$ 400
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
Minimum | Non-Statutory Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares based compensation, vested period (in years)	3 years