Stockholders' Equity - Additional Information (Details) - USD ($)			1 Months Ended		12 Months Ended
	Oct. 18, 2022	Aug. 08, 2022	Apr. 30, 2021	Jun. 30, 2014	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Class Of Stock [Line Items]
Common shares registered for resale	24,600,000
Proceeds from issuance of common stock					$ 75,145,000
Private Placement
Class Of Stock [Line Items]
Shares of common stock sold		16,100,000
Purchase price per share		$ 3.10
Stock issuance cost		$ 1,400,000
Proceeds from issuance of common stock and pre-funded warrants		$ 75,100,000
Pre-funded Warrants
Class Of Stock [Line Items]
Purchase price per share		$ 3.0999
Class of warrant or right, number of securities called by warrants or rights		8,500,000		600,000
Class of warrant or right, exercise price of warrants or rights		$ 0.0001		$ 0.01
Class of warrant or right, expiration date				Jun. 30, 2021
Class of warrant or right, exercised during period			195,574				267,870	132,130
Proceeds from issuance of warrants			$ 0				$ 2,679,000	$ 1,321,000
Class of warrant or right, outstanding						0
Common Stock
Class Of Stock [Line Items]
Issuance of common stock on exercise of warrants (in shares)						195,000
Common Stock | Private Placement
Class Of Stock [Line Items]
Shares of common stock sold					16,129,000
Common Stock | Pre-funded Warrants
Class Of Stock [Line Items]
Issuance of common stock on exercise of warrants (in shares)			195,461				267,870	132,130