Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Income Tax [Line Items]
Deferred tax assets, valuation allowance	$ 110,120,000	$ 75,446,000
Net valuation allowance increases	34,700,000	25,600,000
Federal net operating loss carryforwards	171,600,000	152,200,000
Federal net operating loss carryforwards do not expire	$ 171,600,000
Percentage of taxable income limitation under TCJA	80.00%
State net operating loss carryforwards	$ 273,600,000	216,800,000
Accrued interest or penalties related to uncertain tax benefits	0	0
IRS
Income Tax [Line Items]
Net operating loss carryforwards limited and expire due to ownership changes	0
Federal | Research tax credit carryforward
Income Tax [Line Items]
Tax credit carryforwards	9,100,000	7,300,000
State | Research tax credit carryforward
Income Tax [Line Items]
Tax credit carryforwards	$ 2,900,000	$ 2,900,000