Balance Sheet Components - Additional Information (Details) - USD ($)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Reductions in research and development expense	$ 600,000	$ 1,100,000
Australia research and development refundable tax credit	1,003,000	1,128,000
Depreciation	204,000	344,000
Novosteo
Australia research and development refundable tax credit	$ 500,000	$ 0

Amount before allocation of valuation allowances of deferred tax asset attributable to deductible foreign tax credit carryforwards.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 8
-URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32632-109319

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 6
-URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32621-109319

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 3
-Subparagraph (a)
-URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32559-109319

Name:	us-gaap_DeferredTaxAssetsTaxCreditCarryforwardsForeign
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant