Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes [Line Items]
Valuation allowance	$ 2,832,000	$ 2,609,000
Increase in valuation allowance	(224,000)	(669,000)	$ (1,513,000)
Unrecognized income tax benefit	9,742,000	710,000	$ 377,000
Unrecognized income tax benefit that would impact effective tax rate if recognized	2,300,000
Accrual for interests	94,000	15,000
Interest recognized	$ 94,000	$ 15,000
Earliest Tax Year
Income Taxes [Line Items]
Years subject to income tax examination	2018
Latest Tax Year
Income Taxes [Line Items]
Years subject to income tax examination	2022
Research and Development Credits and Depreciation Adjustments
Income Taxes [Line Items]
Increase in valuation allowance	$ 224,000
Federal
Income Taxes [Line Items]
Net operating loss carryforwards	58,800,000
State
Income Taxes [Line Items]
Net operating loss carryforwards	$ 66,000,000.0
Net operating loss carryforwards expiration beginning year	2037
Foreign
Income Taxes [Line Items]
Net operating loss carryforwards	$ 13,800,000
Net operating loss carryforwards expiration beginning year	2023
Net operating loss carryforwards expiration ending year	2027