Stock-Based Compensation - Summary of Stock Options Outstanding And Vested (Details)	6 Months Ended
	Jun. 30, 2023 $ / shares shares
Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	1,996,000
Options outstanding, Weighted average remaining contractual term (in years)	8 years 9 months 18 days
Options outstanding, Weighted average exercise price	$ 5.3
Options vested, Number Exercisable | shares | shares	710,000
Options vested, Weighted average exercise price	$ 7.01
Exercise Price $2.52 - $3.10
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	360,000
Options outstanding, Weighted average remaining contractual term (in years)	9 years 6 months
Options outstanding, Weighted average exercise price	$ 2.66
Exercise Price $2.52 - $3.10 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	2.52
Exercise price range (upper)	$ 3.1
Exercise Price $3.23
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	455,000
Options outstanding, Weighted average remaining contractual term (in years)	9 years 10 months 24 days
Options outstanding, Weighted average exercise price	$ 3.23
Options vested, Number Exercisable | shares | shares	22,000
Options vested, Weighted average exercise price	$ 3.23
Exercise Price $3.23 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	$ 3.23
Exercise Price $4.86 - $5.95
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	27,000
Options outstanding, Weighted average remaining contractual term (in years)	9 years
Options outstanding, Weighted average exercise price	$ 5.75
Options vested, Number Exercisable | shares | shares	4,000
Options vested, Weighted average exercise price	$ 5.95
Exercise Price $4.86 - $5.95 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	4.86
Exercise price range (upper)	$ 5.95
Exercise Price $6.04
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	418,000
Options outstanding, Weighted average remaining contractual term (in years)	8 years 6 months
Options outstanding, Weighted average exercise price	$ 6.04
Options vested, Number Exercisable | shares | shares	148,000
Options vested, Weighted average exercise price	$ 6.04
Exercise Price $6.04 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	$ 6.04
Exercise Price $6.07 - $8.62
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, Number | shares	736,000
Options outstanding, Weighted average remaining contractual term (in years)	7 years 10 months 24 days
Options outstanding, Weighted average exercise price	$ 7.44
Options vested, Number Exercisable | shares | shares	536,000
Options vested, Weighted average exercise price	$ 7.44
Exercise Price $6.07 - $8.62 | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price range (lower)	6.07
Exercise price range (upper)	$ 8.62