Stock-Based Awards - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 15, 2023	Apr. 30, 2018	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense			$ 1,186	$ 2,073	$ 2,832	$ 3,938
June Reduction In Force
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock options forfeited (in shares)	1,062,115
General and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense			815	1,296	1,815	2,578
2018 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized stock-based compensation cost			$ 6,620		$ 6,620
Unrecognized stock-based compensation cost, weighted-average period (in years)					1 year 6 months 21 days
Stock options to purchase common stock | June Reduction In Force
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Modification closing period	6 months
Stock options to purchase common stock | Non-Employees
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares of common stock converted under option plan (in shares)			247,169		247,169		260,570
RSUs issued and expected to vest
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unvested restricted stock units, Granted (in shares)					0		732,000
Restricted stock units forfeited (in shares)	103,920				107,100
RSUs issued and expected to vest | June Reduction In Force
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Modification closing period	6 months
RSUs issued and expected to vest | Vesting August 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period percentage							40.00%
RSUs issued and expected to vest | Vesting August 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period percentage							60.00%
RSUs issued and expected to vest | Granted to Employee
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense			$ 0	$ 610	$ 341	$ 819
2014 Plan | Stock options to purchase common stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of exercise price per share of stock options to fair market value of share of common stock (as a percent)					100.00%
Stock options granted expiry period (in years)					10 years
Weighted average grant-date fair value per share of stock options granted (in dollars per share)					$ 0.50		$ 2.28
2018 Stock Option and Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares of common stock to be issued (in shares)		1,545,454
Percentage of authorized number of shares of common stock outstanding (as a percent)		4.00%
Stock options forfeited (in shares)					1,189,831
Number of shares of common stock converted under option plan (in shares)			10,098,998		10,098,998		8,233,330
2018 Employee Stock Option and Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares available for future issuance (in shares)			1,457,618		1,457,618
2018 Employee Stock Option and Incentive Plan | 2018 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares of common stock to be issued (in shares)		256,818	1,873,627		1,873,627
Percentage of authorized number of shares of common stock outstanding (as a percent)		1.00%
Number of shares of common stock issued (in shares)			0	2,234	137,917	53,563
2014 Plan and 2018 Plan | Stock options to purchase common stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock options granted expiry period (in years)					10 years
Stock options granted vesting period (in years)					3 years
Inducement Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares of common stock to be issued (in shares)								600,000
Stock options forfeited (in shares)					9,113
Weighted average grant-date fair value per share of stock options granted (in dollars per share)						$ 1.99
Number of shares of common stock converted under option plan (in shares)			201,287		201,287		210,400
Inducement Plan | Stock options to purchase common stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares available for future issuance (in shares)			398,713		398,713