Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Federal statutory rate	21.00%	21.00%	21.00%
Change in valuation allowance	(34.70%)	(31.30%)	(29.60%)
Stock-based compensation	0.30%	0.90%	(0.30%)
Executive compensation	(0.80%)	(1.10%)	0.00%
Permanent items	(0.20%)	(0.10%)	1.10%
State income taxes, net of federal benefit	8.40%	6.10%	6.80%
Research and development tax credits	5.60%	4.50%	1.00%
Other	1.00%	0.00%	0.00%
Total	0.00%	0.00%	0.00%

Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 12
-URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under share-based payment arrangement.

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Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
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-Topic 740
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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Effective Income Tax Rate Reconciliation, Executive compensation, Percent

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Effective Income Tax Rate Reconciliation Permanent Items.

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