Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Operating Loss Carryforwards [Line Items]
Provision for income taxes	$ 58,000	$ 0
U.S. federal tax benefit at statutory rate	21.00%	21.00%
Valuation allowance	$ (68,868,000)	$ (48,353,000)
Undistributed earnings of foreign subsidiaries	111,000
Accrued interest and penalties related to uncertain tax positions	0	0
Federal
Operating Loss Carryforwards [Line Items]
Net operating losses available to reduce future taxable income	184,007,000	156,584,000
Net operating losses available to reduce future taxable income subject to expiration	12,256,000
Net operating losses available to reduce future taxable income not subject to expiration	171,751,000
Federal | Research and development
Operating Loss Carryforwards [Line Items]
Tax credit carryforward	6,193,000	3,373,000
State
Operating Loss Carryforwards [Line Items]
Provision for income taxes	9,000
Net operating losses available to reduce future taxable income	127,624,000	104,555,000
Net operating losses available to reduce future taxable income subject to expiration	5,033,000
State | Research and development
Operating Loss Carryforwards [Line Items]
Tax credit carryforward	4,597,000	$ 2,854,000
Foreign Tax Authority
Operating Loss Carryforwards [Line Items]
Provision for income taxes	$ 49,000