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Income Taxes - Reconciliation of Federal Income Tax Rate (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Federal tax at statutory rate 21.00% 21.00% 21.00%
State tax, net of federal benefit 3.00% 4.00% 3.00%
Change in valuation allowance (18.00%) (225.00%) (21.00%)
Stock-based compensation (1.00%) 155.00% (2.00%)
Research and development credits (2.00%) 46.00% 3.00%
Non-deductible expenses (1.00%) (1.00%) (3.00%)
Non-deductible interest expenses 0.00% (1.00%) (2.00%)
Worthless stock deduction 1.00% 0.00% 0.00%
Other (1.00%) 0.00% 0.00%
Benefit from (provision for) income taxes 2.00% (1.00%) (1.00%)