Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Tax Credit Carryforward [Line Items]
Effective tax rate	0.00%	0.00%
Taxes at U.S. statutory rate	21.00%	21.00%
Increase in valuation allowance	$ 22,400,000	$ 15,800,000
Accrued interest or penalties	$ 0	$ 0
Description of income tax examinations	the Company is subject to examination by these taxing authorities for all years since inception.
Massachusetts
Tax Credit Carryforward [Line Items]
Net operating loss carryforwards	$ 83,500,000
Net operating loss carryforwards, expiration year	2042
U.S. Federal
Tax Credit Carryforward [Line Items]
Net operating loss carryforwards	$ 86,200,000
U.S. Federal | R&D
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	$ 6,900,000
Tax credit carryforwards, expiration year	2042
State | R&D
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	$ 4,200,000
Tax credit carryforwards, expiration year	2037