Stock-based Compensation Expense - Summary of Restricted Stock Activity outside of 2019 and 2016 Plan (Details) - Grants Outside of 2016 Stock Incentive Plan and 2019 Stock Incentive Plan - Restricted stock Units	6 Months Ended
	Jun. 30, 2024 $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Unvested, Beginning balance | shares	75,017
Number of Shares, Granted | shares	70,445
Number of Shares, Vested | shares	(22,326)
Number of Shares, Cancelled | shares	(7,141)
Number of Shares, Unvested, Ending balance | shares	115,995
Weighted Average Grant Date Fair Value, Unvested, Beginning balance | $ / shares	$ 10.77
Weighted Average Grant Date Fair Value, Granted | $ / shares	6.95
Weighted Average Grant Date Fair Value, Vested | $ / shares	10.65
Weighted Average Grant Date Fair Value, Cancelled | $ / shares	9.32
Weighted Average Grant Date Fair Value, Unvested, Ending balance | $ / shares	$ 8.56