Equity Incentive Plan - Summary of Restricted Stock Unit Activity (Details) - Restricted Stock Units - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Units Issued and Outstanding, Beginning balance	439,175	474,450
Units Issued and Outstanding, Granted	419,750	225,500
Units Issued and Outstanding, Released	(163,405)	(150,534)
Units Issued and Outstanding, Canceled	(74,995)	(110,241)
Units Issued and Outstanding, Ending balance	620,525	439,175
Weighted-Average Grant Date Fair Value, Beginning balance	$ 8.41	$ 9.28
Weighted-Average Grant Date Fair Value, Granted	7.05	8.14
Weighted-Average Grant Date Fair Value, Released	7.13	11.25
Weighted-Average Grant Date Fair Value, Canceled	7.48	8.17
Weighted-Average Grant Date Fair Value, Ending balance	$ 7.63	$ 8.41