Summary of Significant Accounting Policies - Revenue, Patent Costs, and Interest and Other Income (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Revenue
Development Agreement, initial term	2 years
Development Agreement, renewal period	1 year
Development Agreement, period for notification of cancellation	6 months
Interest and other income, net
Interest and other income, net
Interest income generated from cash and cash equivalents balances	$ 0.3
Patents
Patent Costs
Legal and other fees	$ 1.7	$ 1.4