Summary of Significant Accounting Policies - Securities (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Anti-dilutive securities excluded from computation (in shares)	2,925,262	2,858,956
Warrants to purchase common stock
Class of Stock [Line Items]
Anti-dilutive securities excluded from computation (in shares)	409,108	409,108
Common stock options
Class of Stock [Line Items]
Anti-dilutive securities excluded from computation (in shares)	1,421,235	2,014,330
Restricted stock units
Class of Stock [Line Items]
Anti-dilutive securities excluded from computation (in shares)	1,036,208	415,325
Employee stock purchase plan
Class of Stock [Line Items]
Anti-dilutive securities excluded from computation (in shares)	58,711	20,193