Stock-based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions					3 Months Ended		6 Months Ended		12 Months Ended
	Jul. 25, 2022	May 20, 2022	May 09, 2022	May 28, 2020	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Company's common stock shares reserved for issuance							11,011,780
2020 Incentive Award Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares available for future issuance					1,212,450		1,212,450
2020 Incentive Award Plan | Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares authorized for issuance				3,019,108
Percentage of shares of common stock outstanding as-converted basis				4.00%
Inducement Award Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Company's common stock shares reserved for issuance		3,000,000
Shares available for future issuance					2,542,963		2,542,963
RSUs
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Award acceleration period							12 months
Stock-based compensation expense					$ 2.1	$ 1.4	$ 3.9	$ 4.6
Unrecognized stock-based compensation expense					$ 17.7		$ 17.7		$ 18.2
Unrecognized stock-based compensation weighted-average period							1 year 10 months 24 days		1 year 10 months 24 days
Vesting period							3 years
RSUs | Share-Based Payment Arrangement, Tranche One [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Listing price of share					$ 7.50		$ 7.50
Number of consecutive trading days					20 days		20 days
Vesting description							The vesting of the RSUs will accelerate in one-third increments if the Company's common stock achieves a closing price at or above $7.50 per share for twenty consecutive trading days during the three-year vesting period; a closing price at or above $15.00 per share for twenty consecutive trading days in the second or third years of the vesting period; and a closing price at or above $21.00 per share for twenty consecutive trading days during the third year of the vesting period
RSUs | Share-Based Payment Arrangement, Tranche Two [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Listing price of share					$ 15.00		$ 15.00
Number of consecutive trading days					20 days		20 days
RSUs | Share-Based Payment Arrangement, Tranche Three [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Listing price of share					$ 21.00		$ 21.00
Number of consecutive trading days					20 days		20 days
RSUs | CEO
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares granted			1,200,000
Fair value per share			$ 1.08
RSUs | Management Team
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares granted	140,000	3,190,000
Fair value per share	$ 1.64	$ 1.45