Stock Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Apr. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement by share based payment award, Options exercised in period, Total intrinsic value	$ 1,000
Number of shares issued under share based payment arrangement	59,808
Stock-based compensation expense	$ 11,493	$ 8,887
Employee Stock Purchase Plan ESPP [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock capital, Shares reserved for future issuance			707,942
2021 Equity Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock capital, Shares reserved for future issuance			4,650,796
Share-based compensation arrangement by share-based payment award, Number of shares available for issuance	288,775
2017 and 2021 Amended Equity Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement by share based payment award, Options granted in period, Weighted average grant date fair value	$ 5.92	$ 13.63
Unvested Stock Options And Restricted Stock Awards [Member] | 2017 and 2021 Amended Equity Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation, Nonvested awards, Compensation cost not yet recognized Stock options and equity instruments other than options	$ 22,000
Share based compensation, Nonvested awards, Compensation cost not yet recognized period of recognition stock options and equity instruments other than options	2 years 6 months
Unvested Stock Options And Restricted Stock Unit [Member] | 2017 and 2021 Amended Equity Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation, Nonvested awards, Compensation cost not yet recognized Stock options and equity instruments other than options	$ 1,500
ESPP [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock Percent of Fair Market Value	85.00%
Share purchases funded through payroll deductions for employee's eligible minimum annual compensation, percentage	1.00%
Share purchases funded through payroll deductions for employee's eligible maximum annual compensation, percentage	15.00%
Potential increase in shares reserved for future issuance (in shares)	440,502
Potential increase in shares reserved for future issuance as percentage of outstanding share	1.00%
Stock-based compensation expense	$ 200
Restricted Stock [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average Grant date fair value	$ 18.36	$ 18.37
Restricted Stock [Member] | Unvested Stock Options And Restricted Stock Unit [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation, Nonvested awards, Compensation cost not yet recognized period of recognition stock options and equity instruments other than options	9 months 18 days
Restricted Stock Units R S U [Member] | 2017 and 2021 Amended Equity Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 1,600