Income Taxes - Reconciliation Between Provision for Income Taxes and Income Taxes Computed Using U.S. Federal Statutory Corporate Tax Rate (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income taxes computed at the statutory rate	$ (41,522,000)	$ (30,216,000)
Permanent items	2,713,000	1,387,000
Research and development credit	(2,453,000)	(2,950,000)
Change in valuation allowance	41,137,000	31,783,000
Other	125,000	(4,000)
Provision (benefit) for income taxes	$ 0	$ 0