Stock Based Compensation - Summary of Restricted Stock Unit Activity Under the Plan (Details) - Restricted Stock Units - 2020 Plan and 2023 Plan	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of RSUs, Beginning balance | shares	1,415,104
Number of RSUs, Granted | shares	226,175
Number of RSUs, Cancellations and forfeitures | shares	(79,232)
Number of RSUs, Vested | shares	(918,412)
Number of RSUs, Ending balance | shares	643,635
Weighted Average Grant Date Fair Value, Beginning balance | $ / shares	$ 4.51
Weighted Average Grant Date Fair Value, Granted | $ / shares	4.32
Weighted Average Grant Date Fair Value, Cancellations and forfeitures | $ / shares	4.51
Weighted Average Grant Date Fair Value, Vested | $ / shares	4.51
Weighted Average Grant Date Fair Value, Ending balance | $ / shares	$ 4.45