Stock-based Compensation - Schedule of Stock Options Outstanding and Exercisable (Details)	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	2,085,665
Options exercisable (in shares)	1,353,373
Exercise Price at $1.85
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 1.85
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 1.85
Options outstanding (in shares)	367,451
Options outstanding, weighted average remaining contractual life (years)	7 years 3 months 3 days
Options exercisable (in shares)	302,928
Exercise Price at $2.13
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 2.13
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 2.13
Options outstanding (in shares)	879,795
Options outstanding, weighted average remaining contractual life (years)	7 years 5 months 26 days
Options exercisable (in shares)	547,155
Exercise Price at $14.22
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 14.22
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 14.22
Options outstanding (in shares)	752,408
Options outstanding, weighted average remaining contractual life (years)	7 years 6 months
Options exercisable (in shares)	454,578
Exercise Price at $52.40
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 52.40
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 52.40
Options outstanding (in shares)	21,432
Options outstanding, weighted average remaining contractual life (years)	6 years 5 months 19 days
Options exercisable (in shares)	17,768
Exercise Price at $102.60
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 102.60
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 102.60
Options outstanding (in shares)	64,579
Options outstanding, weighted average remaining contractual life (years)	8 years 1 month 6 days
Options exercisable (in shares)	30,944