Net Loss Per Share - Dilutive Securities Excluded from Calculation of Diluted Earnings Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Options to purchase common stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Dilutive securities excluded from calculation of diluted earnings per share	6,748,580	7,195,398	8,142,348
Warrants to purchase common stock - liability classified
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Dilutive securities excluded from calculation of diluted earnings per share	2,036,733	2,036,733	2,156,153
Warrants to purchase common stock - equity classified
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Dilutive securities excluded from calculation of diluted earnings per share	1,418,116	1,418,116	1,418,116
Unvested restricted stock units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Dilutive securities excluded from calculation of diluted earnings per share	8,573,884	6,244,013	8,046,399