Stock-Based Compensation Expense - Schedule of Fair Value of Stock Option Estimated on Date of Grant Using Black-Scholes Option-Pricing Model or Monte Carlo Simulation in Case of Options Granted to Executive Officers (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share-Based Payment Arrangement [Abstract]
Risk-free interest rate	3.80%	3.20%	3.70%	2.50%
Expected term (in years)	6 years 1 month 6 days	2 years 1 month 6 days	6 years	3 years 3 months 18 days
Expected volatility	82.00%	80.60%	82.90%	80.70%