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Stock-Based Compensation - Additional Information (Details) - USD ($)	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023	Jan. 01, 2024	Jan. 01, 2022	Jan. 27, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Recognized share-based compensation expense	$ 795,000	$ 1,095,000	$ 2,011,000	$ 2,308,000
Weighted average fair value per share of options granted			$ 0.58
Grant date fair value of options vested			$ 2,000,000	$ 2,500,000
Unrecognized stock-based compensation expense	2,700,000		$ 2,700,000
Weighted-average period			1 year 6 months 18 days
Common Stock Warrants
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation expense	0		$ 0
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average period			1 year 10 months 24 days
Unrecognized stock-based compensation expense	$ 200,000		$ 200,000
2021 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for issuance	1,834,759		1,834,759			2,999,187	5,000,000
Number of capital stock outstanding percentage			4.00%
2021 Equity Incentive Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of increase of available shares					4.00%
2021 Equity Incentive Plan \| Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of increase of available shares					2.00%
2021 Equity Incentive Plan \| Restricted Stock Units \| Vesting Period One
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period			1 year
2021 Equity Incentive Plan \| Restricted Stock Units \| Vesting Period Two
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period			2 years
2021 Equity Incentive Plan \| Restricted Stock Units \| Vesting Period Three
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period			3 years
2021 Equity Incentive Plan \| Restricted Stock Units \| Vesting Period Four
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period			4 years
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for issuance	1,001,558		1,001,558					333,333
Percentage of number of shares of capital stock outstanding on last day of preceding year			1.00%
Recognized share-based compensation expense			$ 4,000
Purchase price of fair value common stock, percent			85.00%
Stock issued under plan			195,807