Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Line Items]
Unrecognized tax benefits	$ 1,028,000	$ 1,270,000	$ 1,028,000
Accrued interest or penalties related to uncertain tax positions	0	0
Net operating losses and unused R&D tax credits sold		1,356,000
U.S. Federal and State
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	$ 102,723,000	88,327,000
Operating loss carryforwards expiration year	2040
U.S. Federal and State | Research and Development
Income Tax Disclosure [Line Items]
Tax credit carryforwards	$ 5,674,000	$ 7,672,000
Tax credit carryforwards expiration year	2032