Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Valuation allowance	$ 49,648,000	$ 34,492,000
Federal net operating loss carryforwards	82,100,000
Unrecognized Tax Benefits	941,000	668,000	$ 663,000
Income Tax Examination, Penalties and Interest Expense	0	0
Interest or penalty accruals associated with uncertain tax benefits	0	$ 0
Federal
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	$ 92,300,000
Operating loss carryforwards expiration year	2032
Federal | 2032
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	$ 100,000
Federal | Research
Operating Loss Carryforwards [Line Items]
Tax credit carryforward amount	3,300,000
State
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	$ 35,700,000
Operating loss carryforwards expiration year	2036
State | 2036
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	$ 300,000
State | Research
Operating Loss Carryforwards [Line Items]
Tax credit carryforward amount	$ 1,400,000