Summary of Accounting Policies - Schedule of Dilutive Securities Excluded from Computation of Income (Loss) Per Share (Details) - shares	3 Months Ended	6 Months Ended
Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Stock Options Issued And Outstanding Under Plans
Earnings Per Share [Line Items]
Anti-dilutive securities	5,821,076	1,942,092	3,409,842	1,973,913
Restricted Stock Units [Member]
Earnings Per Share [Line Items]
Anti-dilutive securities	773,940	65,825	671,956	48,188
Employee Stock Purchase Plan
Earnings Per Share [Line Items]
Anti-dilutive securities	39,568	48,373	45,191	47,496

Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (c)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482662/260-10-50-1

Name:	us-gaap_AntidilutiveSecuritiesExcludedFromComputationOfEarningsPerShareAmount
Namespace Prefix:	us-gaap_
Data Type:	xbrli:sharesItemType
Balance Type:	na
Period Type:	duration