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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Jan. 31, 2019
Stock-based Compensation          
Shares reserved for issuance (in shares) 1,330,683   1,330,683   2,000,000
Stock-based compensation expense $ 216 $ 565 $ 493 $ 1,176  
Remaining stock-based compensation expense for unvested stock options 444   444    
Remaining stock-based compensation expense for unvested restricted stock units $ 128   $ 128    
Restricted Stock Units (RSUs)          
Stock-based Compensation          
Vesting period (in years)     3 years    
Cost not yet recognized, period for recognition (in years)     6 months    
Share-based Payment Arrangement, Option          
Stock-based Compensation          
Vesting period (in years)     3 years    
Cost not yet recognized, period for recognition (in years)     1 year 1 month 6 days    
Maximum          
Stock-based Compensation          
Award term (in years)     10 years    
Incentive Stock Optionee, Stock Ownership Greater than Ten Percent of Voting Power          
Stock-based Compensation          
Minimum exercise price to fair market value of common stock at the date of grant (as a percent) 110.00%   110.00%    
Incentive Stock Optionee, Stock Ownership Greater than Ten Percent of Voting Power | Maximum          
Stock-based Compensation          
Award term (in years)     5 years