Warrants - Schedule of Key Terms of Placement Warrants (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Warrants exercised (in shares)	0	119,420
Warrants outstanding (in shares)	2,036,733	2,036,733
2017 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Term	7 years
Exercise price (USD per share)	$ 3.17
Warrants exercised (in shares)	0	118,868
Warrants outstanding (in shares)	1,500,022	1,500,022
2016 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Term	7 years
Exercise price (USD per share)	$ 2.95
Warrants exercised (in shares)	0	552
Warrants outstanding (in shares)	536,711	536,711