Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2014
Operating Loss Carryforwards [Line Items]
Income tax expense	$ 24,000	$ 0	$ 0
Research and development credits	12,844,000	9,527,000		$ 200,000
Unrecognized tax benefits that if recognized and realized would affect the effective tax rate	0	0
Interest or penalties on uncertain tax benefits	0	0
Federal tax authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	287,400,000
Domestic				5,300,000
Research and development credits		$ 15,000,000
Federal tax authority | 2018 and after
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	234,300,000
Federal tax authority | Research Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Research tax credit carryforwards	6,100,000
State tax authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	69,600,000
State and local				$ 5,400,000
State tax authority | Research Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Research tax credit carryforwards	12,200,000
Foreign tax authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 3,100,000