Income Taxes - Schedule of Principal Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Depreciation		$ 367
Stock-based compensation	$ 554	405
Research and development credits	6,817	6,904
Capitalized research expense	1,557
Net operating loss	2,562	3,380
Other	335	254
Total deferred tax assts	11,825	11,310
Valuation allowance	(11,115)	(10,730)
Depreciation	(193)
Intangibles	517	580
Total deferred tax liabilities	$ (710)	$ (580)