Income Taxes - Reconciliation of Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Effective Income Tax Rate Reconciliation
Tax at statutory federal rate (percent)	(21.00%)	(21.00%)
State tax, net of federal benefit (percent)	(4.90%)	(3.30%)
Tax credits (percent)	(0.70%)	(0.80%)
Change in deferred tax valuation allowance (percent)	26.10%	27.10%
Stock compensation (percent)	0.30%	(1.70%)
Foreign rate differences (percent)	0.10%	0.10%
Other (percent)	0.10%	(0.40%)
Total income tax expense (percent)	0.00%	0.00%