Equity - Additional Information (Details) $ / shares in Units, $ in Millions				3 Months Ended	9 Months Ended
	Oct. 05, 2023 shares	Sep. 25, 2023	Jul. 18, 2023	Jun. 30, 2023 shares	Sep. 30, 2023 USD ($) offering $ / shares shares	Sep. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2022 $ / shares shares	Nov. 04, 2021 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stockholders' equity, reverse stock split		0.20
Common stock, shares authorized (in shares)					20,000,000		20,000,000
Common stock, par value (in dollars per share) | $ / shares					$ 0.000001		$ 0.000001
Common stock, shares issued (in shares)					8,805,284		8,529,668
Common stock, shares outstanding (in shares)					8,805,284		8,529,668
Percentage of outstanding stock per stockholder, maximum					9.99%
Percentage of outstanding stock per stockholder, upon notice, maximum			19.99%		19.99%
Warrants, notice period for nominal cash consideration			61 days		61 days
Unrecognized stock-based compensation cost | $					$ 1.0
Unrecognized stock-based compensation cost, weighted-average period recognized					1 year 11 months 1 day
Exercise price per share (in dollars per share) | $ / shares					$ 18.90
Shares issued upon exercises of stock options (in shares)					0	7,300
Aggregate intrinsic value of options exercised | $						$ 0.1
Weighted average grant date fair value for options granted in period (in dollars per share) | $ / shares					$ 2.54	$ 4.80
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)					151,987
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
Equity Offering Sales Agreement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Sale of stock, maximum aggregate offering price | $								$ 40.0
Prefunded Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding pre-funded warrants (in shares)					2,296,602	2,532,602
Exercise price of pre-funded warrants (in dollars per share) | $ / shares					$ 0.000005
Shares issued upon the exercise of pre-funded warrants (in shares)				236,000
Prefunded Warrants | Subsequent Event
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued upon the exercise of pre-funded warrants (in shares)	592,650