Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Income tax expense	$ 0	$ 0
Valuation allowance increased	$ 7,500,000	13,400,000
Net operating loss carry forwards expire beginning year	2028
Ownership percentage	5.00%
Income taxes rolling year	3 years
Unrecognized tax benefits	$ 761,000	465,000	$ 447,000
Interest or penalties accrued	$ 0	$ 0
Tax Year 2009
Operating Loss Carryforwards [Line Items]
Open tax year	2009
Tax Year 2022
Operating Loss Carryforwards [Line Items]
Open tax year	2022
Minimum
Operating Loss Carryforwards [Line Items]
Ownership percentage increased	50.00%
Federal
Operating Loss Carryforwards [Line Items]
Operating loss carry forwards	$ 214,400,000
Income tax remain open year for examination	3 years
State
Operating Loss Carryforwards [Line Items]
Operating loss carry forwards	$ 187,500,000
Income tax remain open year for examination	4 years
Research | Federal
Operating Loss Carryforwards [Line Items]
Tax credit carryforwards	$ 1,500,000
Research | State
Operating Loss Carryforwards [Line Items]
Tax credit carryforwards	$ 1,500,000