Income Taxes - Reconciliation of Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
U.S. federal statutory income tax rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	(5.50%)	(5.40%)	(5.90%)
Research and development tax credits	(1.00%)	(0.90%)	(1.10%)
Other permanent differences	3.00%	3.70%	0.90%
Change in deferred tax asset valuation allowance	23.20%	23.70%	27.20%
Other	1.30%	(0.10%)	0.10%
Effective income tax rate	0.00%	0.00%	0.20%