Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Provision for income taxes	$ 0	$ 0
Research and development credits	8,897,000	6,694,000
Gross unrecognized tax benefits	2,327,000	1,704,000	$ 938,000
Unrecognized tax benefits that would affect effective tax rate	0
Interest or penalties related income tax	0
Accrual for interest or penalties related to income tax	0
Federal
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards which are carried over indefinitely	408,700,000	$ 290,100,000
Research and development credits	$ 10,500,000
Research and development credits expiration period	2038
State
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 1,700,000
Net operating loss carryforwards expiration year	2036
Research and development credits	$ 900,000
Research and development credits expiration period	2025