Common Stock (Details)	1 Months Ended		12 Months Ended
	Nov. 30, 2021 USD ($)	Mar. 31, 2020 USD ($)	Dec. 31, 2022 USD ($) Vote shares	Dec. 31, 2021 USD ($) shares	Dec. 31, 2020 shares
Common Stock
Common stock, shares authorized for issuance			290,000,000	290,000,000
Preferred stock, shares authorized for issuance			10,000,000	10,000,000
Number of votes per share of common stock | Vote			1
Dividends on common stock | $			$ 0
Proceeds from sale of stock | $				$ 31,989,000
Shares of common stock reserved for issuance, on an as-converted basis
Exchange Warrants					1,458,000
Shares available for future option grants			4,017,011	2,806,953	1,692,753
Outstanding options			7,006,250	6,354,308	6,664,173
Shares reserved for employee stock purchase plan			400,000	400,000	400,000
Total			11,423,261	9,561,261	10,214,926
2020 Sales Agreement
Common Stock
Common stock shares sold			6,920,339
Common stock gross proceeds | $			$ 31,100,000
Common stock remained available for sale | $			18,900,000
2021 sales agreement
Common Stock
Common stock remained available for sale | $			$ 40,000,000.0
At-the-market offering | Cowen | 2020 Sales Agreement | Maximum
Common Stock
Potential gross proceeds | $		$ 50,000,000
At-the-market offering | Cowen | 2021 sales agreement | Maximum
Common Stock
Potential gross proceeds | $	$ 40,000,000
Stock issuance costs, as a percent of gross proceeds	3.00%