Equity - Additional Information (Details) $ / shares in Units, $ in Millions	3 Months Ended
	Mar. 31, 2023 USD ($) offering $ / shares shares	Mar. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2022 $ / shares shares	Nov. 04, 2021 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, shares authorized (in shares)	100,000,000		100,000,000
Common stock, par value (in dollars per share) | $ / shares	$ 0.000001		$ 0.000001
Common stock, shares issued (in shares)	42,818,346		42,648,346
Common stock, shares outstanding (in shares)	42,818,346		42,648,346
Percentage of outstanding stock per stockholder, maximum	9.99%
Percentage of outstanding stock per stockholder, upon notice, maximum	19.99%
Warrants, notice period for nominal cash consideration	61 days
Unrecognized stock-based compensation cost | $	$ 2.0
Unrecognized stock-based compensation cost, weighted-average period recognized	2 years 18 days
Shares issued upon exercises of stock options (in shares)	0	36,500
Aggregate intrinsic value of options exercised | $		$ 0.1
Weighted average grant date fair value for options granted in period (in dollars per share) | $ / shares	$ 0.43	$ 1.75
Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued upon exercises of stock options (in shares)		36,500
Shares issued upon vesting of restricted stock units (in shares)	170,000
2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock shares reserved for issuance under employee stock purchase plan (in shares)	759,936
Shares issuable under 2020 ESPP | 2020 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
ESPP max contribution rate	15.00%
ESPP, purchase price of common stock, percent of market price	85.00%
ESPP number of offerings per year | offering	2
ESPP offering period	6 months
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units vested (in shares)	(180,000)
Shares outstanding and unissued (in shares)	10,000
Equity Offering Sales Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Purchase Price | $				$ 40.0
Prefunded Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding pre-funded warrants (in shares)	12,663,010	12,663,010
Exercise price of pre-funded warrants (in dollars per share) | $ / shares	$ 0.000001