Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Operating Loss Carryforwards [Line Items]
Increase (decrease) in deferred tax asset valuation allowance	$ 18,237,000	$ 17,918,000
Unrecognized tax benefits	3,788,000	3,314,000	$ 2,019,000	$ 1,436,000
Unrecognized tax benefits that would impact effective tax rate	0
Unrecognized tax benefits, income tax penalties and interest expense	0	$ 0	$ 0
Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	320,140,000
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	271,494,000
Research Tax Credit Carryforward | Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	8,395,000
Research Tax Credit Carryforward | State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	$ 5,022,000