Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent	21.00%	21.00%
Cumulative Change in Ownership, Percentage	50.00%
Cumulative Change in Ownership, Period	3 years
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount	$ 6,009	$ 4,547
Uncertain tax positions, interest or penalties	985	$ 1,079
Federal Research and Development [Member]
Operating Loss Carryforwards, Total	$ 151,712
Operating Loss Carry Forwards, Expiration Year	2027
Tax Credit Carryforward, Amount	$ 6,123
Tax Credit Carryforward, Expiration Year	2026
State and Local Jurisdiction [Member]
Operating Loss Carryforwards, Total	$ 132,925
Operating Loss Carry Forwards, Expiration Year	2022
Tax Credit Carryforward, Amount	$ 6,451