Stock-Based Compensation - Summary of Activity related to RSA Stock-Based Payment Awards (Details) - Restricted Stock Awards - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares, Unvested balance at beginning of period	201,716	611,608
Number of shares, Vested	(174,708)	(386,476)
Number of shares, Forfeited		(23,416)
Number of shares, Unvested balance at end of period	27,008	201,716
Weighted-average grant date fair value, Unvested balance at beginning of period	$ 2.81	$ 2.29
Weighted-average grant date fair value, Vested	2.74	2.05
Weighted-average grant date fair value, Forfeited		1.89
Weighted-average grant date fair value, Unvested balance at end of period	$ 3.26	$ 2.81