Equity Incentive Plans - Summary of Restricted Stock Options (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Restricted Stock Units
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Outstanding, Number of Shares, Unvested, Beginning Balance | shares	30,876
Number of Shares, vested | shares	(10,200)
Number of Shares, cancelled | shares	(19,188)
Outstanding, Number of Shares, Unvested, Ending Balance | shares	1,488
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value, Beginning Balance | $ / shares	$ 4.3
Weighted-Average Grant Date Fair Value, vested | $ / shares	4.3
Weighted-Average Grant Date Fair Value, cancelled | $ / shares	4.3
Outstanding, Weighted-Average Grant Date Fair Value, Unvested, Ending Balance | $ / shares	$ 4.3
Restricted Stock Awards
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Outstanding, Number of Shares, Unvested, Beginning Balance | shares	427,401
Number of Shares, vested | shares	(188,344)
Number of Shares, cancelled | shares	(63,293)
Outstanding, Number of Shares, Unvested, Ending Balance | shares	175,764
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value, Beginning Balance | $ / shares	$ 3.3
Weighted-Average Grant Date Fair Value, vested | $ / shares	3.3
Weighted-Average Grant Date Fair Value, cancelled | $ / shares	3.3
Outstanding, Weighted-Average Grant Date Fair Value, Unvested, Ending Balance | $ / shares	$ 9.9