Stockholders' Equity - Equity Incentive Plans - Additional Information (Details)	6 Months Ended
	Jun. 30, 2023 Plan
Class Of Stock [Line Items]
Number of equity incentive plans	2
2017 Plan | Employee Stock Option
Class Of Stock [Line Items]
Percentage of voting rights	10.00%
2017 Plan | Employee Stock Option | Minimum | 10% Shareholder
Class Of Stock [Line Items]
Stock option fair market value at the date of grant, percent	110.00%