Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions		12 Months Ended
	Feb. 05, 2021	Dec. 31, 2023	Dec. 31, 2022	Aug. 25, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant-date fair value of stock options granted		$ 3.56	$ 7.10
Unrecognized compensation expense related to stock options		$ 14.0
Unrecognized share based compensation expense, recognition period		2 years 3 months 18 days
Intrinsic value of stock options exercised		$ 0.1
Number unvested options		10,299	83,459
Weighted average exercise price of options exercised and unvested		$ 4.90	$ 2.23
Proceeds from unvested options exercises			$ 0.2
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Proceeds from unvested options exercises		$ 0.1
Employee Stock Purchase Plan 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for issuance increase percentage of total number of shares of common stock outstanding	1.00%
SharebasedCompensationArrangementBySharebasedPaymentAwardPurchasePriceOfCommonStockPercent	85.00%
Number of common stock reserved for issuance	1,800,000
Number of shares issued		82,703	34,242
Weighted average purchase price		$ 2.73	$ 3.41
Employee Stock Purchase Plan 2021 | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance		1,289,604
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting rights description		vest over 48 months with 25% vesting after one year followed by ratable monthly vesting over three years
Vesting period		48 months
Contractual term		10 years
Weighted-average grant-date fair value of stock options granted		$ 4.94	$ 4.78
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense related to related to restricted stock units		$ 4.6
Unrecognized share based compensation expense, recognition period		2 years 2 months 12 days
Number of units outstanding		1,113,381	1,430,200
Tranche One | Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period		1 year
Vesting percentage		25.00%
Tranche Two | Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period		3 years
2015 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance	0
2021 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance		1,270,867
Shares reserved for issuance increase percentage of total number of shares of common stock outstanding	4.00%
2021 Plan | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of units outstanding		1,113,381
2023 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance		3,263,436		3,500,000