Stock Plans and Stock-Based Compensation - Additional Information (Details) - shares	Dec. 31, 2022	Dec. 16, 2022	Sep. 15, 2016
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Amount of common stock reserved	6,600,000
2016 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Automatic increase percentage			3.00%
2022 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Amount of common stock reserved		600,000