Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Federal provision for income taxes	$ 0	$ 0
State provision for income taxes	0	0
Provision for income taxes	0	0	$ 0
Deferred tax assets	99,711,000	51,832,000
Valuation allowance increased	47,900,000
U.S federal net operating loss carryforwards	206,000,000.0
State net operating loss carryforwards	246,100,000
Operating loss carryforwards	$ 202,800,000
Carryforwards expiration year	2036
Statutory federal income tax rate	21.00%
Increase or decrease in unrecognized tax benefits	$ 0	0
Unrecognized tax benefits that would affect effective tax rate	0	$ 0	$ 0
California
Operating Loss Carryforwards [Line Items]
Research and development tax credit carryforwards	$ 8,600,000
Federal
Operating Loss Carryforwards [Line Items]
Carryforwards expiration year	2036
Research and development tax credit carryforwards	$ 13,700,000