Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Operating Loss Carryforwards [Line Items]
Income tax expense	$ 0	$ 0
Increase in valuation allowance, deferred tax asset	31,200,000	17,400,000
Net operating loss carryforwards	212,900,000	177,500,000
Accrued interest and penalties related to unrecognized tax benefits	0	0
Capitalized research expenditures	$ 16,172,000	0
Inflation Reduction Act of 2022
Operating Loss Carryforwards [Line Items]
Alternative minimum tax description	A new corporate alternative minimum tax imposed on certain corporations meeting average annual financial statement income of more than $1 billion for the three tax-year period
United States
Operating Loss Carryforwards [Line Items]
Research and experimental expenses amortized period years	5 years
Foreign
Operating Loss Carryforwards [Line Items]
Research and experimental expenses amortized period years	15 years
Federal
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 9,500,000
Net operating loss carryforwards, expiration year	2037
Net operating loss carryforward indefinitely	$ 203,400,000
Research and development credit carryforward	$ 11,900,000	8,600,000
Tax credit carryforward beginning expiration year	2035
State
Operating Loss Carryforwards [Line Items]
Research and development credit carryforward	$ 7,900,000	$ 5,900,000
Tax credit carryforward, expiration description	indefinitely