Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Operating Loss Carryforwards [Line Items]
Current state tax provision related to state minimum taxes	$ 0	$ 0
Increase in valuation allowance	18,800,000
Unrecognized tax benefits, interest or penalties	0	0
Federal
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 183,200,000
Net operating loss carryforwards expiration year	2035
Net operating losses not subject to expiration	$ 178,800,000
Federal | Research and Development
Operating Loss Carryforwards [Line Items]
Tax credit carryforwards		2,800,000
Federal | Research Credit Carryforwards
Operating Loss Carryforwards [Line Items]
Tax credit carryforwards	$ 7,100,000
Tax credit carryforwards expiration year	2038
State
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 230,500,000
Net operating loss carryforwards expiration year	2035
State | California
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards		$ 51,000,000.0
State | Research Credit Carryforwards
Operating Loss Carryforwards [Line Items]
Tax credit carryforwards	$ 4,700,000
Tax credit carryforward expiration	indefinitely