Organization and Basis of Presentation - Additional Information (Details) $ / shares in Units, $ in Thousands, shares in Millions		1 Months Ended	3 Months Ended
	Sep. 27, 2022 USD ($) $ / shares shares	Apr. 30, 2023 USD ($)	Mar. 31, 2023 USD ($) Segment $ / shares	Mar. 31, 2022 USD ($)	Dec. 31, 2022 USD ($) $ / shares
Organization And Basis Of Presentation [Line Items]
Warrant exercise price per share | $ / shares			$ 10.95		$ 12.00
Cash and cash equivalents and short-term investments			$ 74,900
Cash and cash equivalents			12,648		$ 17,665
Accumulated deficit			(384,465)		$ (369,094)
Net loss			15,371	$ 15,522
Cash and cash equivalents used in operations			$ 16,976	$ 18,045
Operating and Reportable segments | Segment			2
Silicon Valley Bank
Organization And Basis Of Presentation [Line Items]
Cash and cash equivalents			$ 600
Private Placement
Organization And Basis Of Presentation [Line Items]
Common stock shares issued | shares	23.0
Public offering price per share | $ / shares	$ 0.95
Proceeds from issuance of common stock net of underwriting discounts and commissions and other offering expenses	$ 59,000
Prefunded Warrants
Organization And Basis Of Presentation [Line Items]
Common stock shares issued | shares	43.3
Public offering price per share | $ / shares	$ 0.949
Warrant exercise price per share | $ / shares	$ 0.001
Subsequent Event
Organization And Basis Of Presentation [Line Items]
Proceeds from employee retention credit		$ 3,200
Payment of employee retention credit		$ 4,400