Income Taxes - Components of Loss Before Income Taxes (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Components of loss before income taxes
Domestic	$ (61,396,000)	$ (57,035,000)
Foreign	140,000	463,000
Net loss	(61,256,000)	(56,572,000)
Income tax provision (benefit)	$ 0	$ 0