Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Line Items]
Income tax expense	$ 0	$ 0	$ 0
Valuation allowance	120,100,000	78,000,000.0
Increase of valuation allowance	42,100,000
Federal net operating loss carryovers, not subject to expiration	144,100,000
Reserves for uncertain tax positions	0	0
Estimated interest or penalties recognized on uncertain tax positions	$ 0	0
Earliest Tax Year
Income Tax Disclosure [Line Items]
Open tax year subject to examination	2019
Latest Tax Year
Income Tax Disclosure [Line Items]
Open tax year subject to examination	2022
Federal
Income Tax Disclosure [Line Items]
NOL carryforwards	$ 153,900,000	123,600,000
Research and development credit carryforwards	12,700,000	10,400,000
State
Income Tax Disclosure [Line Items]
NOL carryforwards	139,800,000	105,200,000
Research and development credit carryforwards	$ 6,100,000	$ 5,200,000
Federal and State
Income Tax Disclosure [Line Items]
NOLs begin to expire year	2036