Stock-based Compensation Expense - Summary of Restricted Stock Activity under 2019 Plan and 2016 Plan (Details) - 2019 Plan and 2016 Plan - Restricted Stock	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Unvested, Beginning balance | shares	10,174
Number of Shares, Granted | shares	0
Number of Shares, Vested | shares	(10,174)
Number of Shares, Repurchased | shares	0
Number of Shares, Unvested, Ending balance | shares	0
Weighted Average Grant Date Fair Value, Unvested, Beginning balance | $ / shares	$ 3.35
Weighted Average Grant Date Fair Value, Granted | $ / shares	0
Weighted Average Grant Date Fair Value, Vested | $ / shares	3.35
Weighted Average Grant Date Fair Value, Repurchased | $ / shares	0
Weighted Average Grant Date Fair Value, Unvested, Ending balance | $ / shares	$ 0