Property and Equipment, Net - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Property Plant And Equipment [Line Items]
Property and equipment, at cost	$ 7,438	$ 7,314
Less: accumulated depreciation and amortization	(6,376)	(6,236)
Property and equipment, net	1,062	1,078
Laboratory Equipment
Property Plant And Equipment [Line Items]
Property and equipment, at cost	6,149	6,025
Computers and Purchased Software
Property Plant And Equipment [Line Items]
Property and equipment, at cost	644	644
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Property and equipment, at cost	$ 645	$ 645