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Commitments and Contingencies - Master Services Agreement (Details) - USD ($)
Mar. 31, 2023
Dec. 31, 2022
Mar. 31, 2022
Oct. 05, 2020
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]        
Lease liabilities $ 1,130,000 $ 1,208,000    
Master Services Agreement With Integrium LLC, 2020        
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]        
Reduced paid service for achievement of certain milestones       $ 6,000,000.0
Lease liabilities $ 498,000   $ 276,000  
Master Services Agreement With Integrium LLC, 2020 | Maximum        
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]        
Consideration payable on achievement of milestones       $ 12,400,000