Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Operating Loss Carryforwards [Line Items]
Income tax expense (benefit)	$ 717,000	$ (38,000)
Valuation allowance	169,394,000	132,953,000
Valuation allowance, period increase	36,400,000
Unrecognized tax benefits that would impact effective tax rate	1,500,000	1,300,000
Unrecognized tax benefits, income tax penalties and interest accrued	0	0
Research and Development Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Tax credit carryforward	14,800,000	12,500,000
Federal
Operating Loss Carryforwards [Line Items]
Net operating losses	416,300,000	385,500,000
Net operating losses, not subject to expiration	221,800,000
Net operating losses, subject to expiration	194,500,000
State
Operating Loss Carryforwards [Line Items]
Net operating losses	$ 359,500,000	$ 359,900,000