Stockholders' Equity - Common Stock (Details) - shares	Dec. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Number of shares reserved for future issuance (in shares)	11,944,664	9,199,512
Warrants and share-based payment awards
Class of Stock [Line Items]
Number of shares reserved for future issuance (in shares)	11,944,664	9,199,512
Share-based payments | Stock options
Class of Stock [Line Items]
Number of shares reserved for future issuance (in shares)	10,051,283	8,342,429
Share-based payments | Restricted stock units
Class of Stock [Line Items]
Number of shares reserved for future issuance (in shares)	1,870,791	817,609
Warrants
Class of Stock [Line Items]
Number of shares reserved for future issuance (in shares)	22,590	39,474