Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Line Items]
Provision for income taxes	$ 0
Net operating loss carryforward percentage			80.00%	80.00%	80.00%
Corporate alternative minimum tax on large corporations	15.00%
Excise tax rate on corporate buy-backs	1.00%
Valuation allowance increased	$ 42,800,000	$ 48,400,000
Net operating loss carryforward	2,900,000
Tax credit carryforwards	$ 23,216,000	14,813,000
United States
Income Tax Disclosure [Line Items]
Research and experimentation expenditures amortized period	5 years
Outside the United States
Income Tax Disclosure [Line Items]
Research and experimentation expenditures amortized period	15 years
Federal
Income Tax Disclosure [Line Items]
Net operating loss carryforward	$ 216,300,000	175,600,000
Tax credit carryforwards	$ 30,200,000	19,000,000.0
Tax credit carryforward expiration or due date year	2040
State
Income Tax Disclosure [Line Items]
Net operating loss carryforward	$ 4,500,000	4,100,000
Tax credit carryforwards	$ 1,300,000
Minimum [Member]
Income Tax Disclosure [Line Items]
Tax Cuts and Jobs Act, adjusted taxable income limitation percentage			0.30	0.30
Maximum
Income Tax Disclosure [Line Items]
Tax Cuts and Jobs Act, adjusted taxable income limitation percentage			0.50	0.50
Maximum | State
Income Tax Disclosure [Line Items]
Tax credit carryforwards		$ 1,000,000.0