Stockholders' Equity - (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Common stock reserved
Dividends on common stock	$ 0
Reserved shares of common stock for future issuance	3,359,305	3,234,397
Common stock warrants
Common stock reserved
Reserved shares of common stock for future issuance	18,461	27,836
Options Issued and Outstanding [Member]
Common stock reserved
Reserved shares of common stock for future issuance	1,994,726	1,783,298
Shares Available for Future Option Grants [Member]
Common stock reserved
Reserved shares of common stock for future issuance	689,472	1,038,956
RSUs subject to future vesting
Common stock reserved
Reserved shares of common stock for future issuance	656,646	384,307