Income Taxes (Additional Information) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Line Items]
Income tax (benefit) expense	$ 4	$ 5	$ (53)
Deferred tax assets, valuation allowance	67,543	56,643
Research and development income tax credits	$ 2,000
Tax credit carry forwards expiration year	2035
Total unrecognized tax benefits	$ 408	408	406	$ 385
Unrecognized tax benefits that would impact effective tax rate	400	400	400
Income tax expense, interest and penalties	0	$ 0	$ 0
Liabilities for uncertain tax positions	0
Federal [Member]
Income Tax Disclosure [Line Items]
Operating loss carryforwards	$ 205,600
Operating loss carryforwards, expiration year	2035
State [Member]
Income Tax Disclosure [Line Items]
Operating loss carryforwards	$ 106,900
Operating loss carryforwards, expiration year	2034