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Stock-Based Compensation - 2016 Omnibus Incentive Plan (Details)
$ / shares in Units, $ in Millions
12 Months Ended
May 24, 2021
$ / shares
shares
May 23, 2021
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2022
$ / shares
shares
Dec. 31, 2020
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Options to purchase shares of common Stock | shares     2,400,315 2,548,849 2,414,303
Exercise price | $ / shares     $ 6.28 $ 0.20 $ 2.17
Vested substitute options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Incremental compensation costs | $     $ 1.0    
General and Administrative Expense [Member] | Vested substitute options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Incremental compensation costs | $     1.0    
Research and Development Expense [Member] | Vested substitute options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Incremental compensation costs | $     $ 0.1    
Merger agreement          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Exchange Ratio 3.16 4.96      
Options to purchase shares of common Stock | shares 2,895,423        
Exercise price | $ / shares $ 5.10        
2016 Omnibus Incentive Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance | shares       3,472,000