Leases - Costs and Other Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lessee, Lease, Description [Line Items]
Sublease income	$ (260)	$ (260)	$ (42)
Total lease costs	$ 1,506	$ 1,355	$ 1,624
Weighted average remaining lease term in years	2 years 9 months 18 days	2 years 10 months 24 days	2 years 4 months 24 days
Weighted average discount rate	17.00%	18.00%	20.00%
Research and development
Lessee, Lease, Description [Line Items]
Operating lease costs	$ 224	$ 268	$ 268
General and administrative
Lessee, Lease, Description [Line Items]
Operating lease costs	$ 1,542	$ 1,347	$ 1,398