Common Stock Warrants - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended			12 Months Ended
	Oct. 31, 2021	Apr. 30, 2021	May 31, 2018	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2016	Dec. 31, 2018
Class Of Warrant Or Right [Line Items]
Number of warrant shares issued		40,000	23,669			30,000	45,000
Exercise price		$ 9.41	$ 3.19			$ 18.00	$ 1.14
Warrant shares, exercised	45,000
Issuance of common stock warrant in connection with settlement					$ 1,146
Warrant expiration year			2025			2027	2023
Warrant vesting period						4 years
Warrant exercised month and year	2021-10	2021-05
Maximum
Class Of Warrant Or Right [Line Items]
Fair value of warrant shares				$ 100	$ 100
Series B Financing
Class Of Warrant Or Right [Line Items]
Warrant shares become exercisable								15,000
Private Placement
Class Of Warrant Or Right [Line Items]
Warrant shares become exercisable							15,000
Proceeds from offering of securities in a private placement							$ 25,000
Initial Public Offering
Class Of Warrant Or Right [Line Items]
Warrant shares become exercisable						30,000