Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes [Line Items]
Provision for state income taxes	$ 15,000	$ 0
Valuation allowance	110,907,000	106,717,000
Unrecognized tax benefits	4,795,000	4,128,000	$ 3,397,000
Unrecognized tax benefits that, if recognized, would affect the effective tax rate	4,400,000
Interest and/or penalties recognized	0	0
Interest and penalties accrued	0	$ 0
Capitalization of research and development expenses	$ 25,300,000
Federal
Income Taxes [Line Items]
Tax years remain open for examination, statute of limitation term	3 years
Maximum
Income Taxes [Line Items]
Provision for state income taxes	$ 100,000