Commitments and Contingencies - Additional Information (Details)		1 Months Ended				12 Months Ended
	Jul. 31, 2021	Sep. 30, 2021	May 31, 2021 USD ($) shares	Feb. 28, 2021 USD ($)	Oct. 31, 2018 USD ($) shares	Dec. 31, 2022 USD ($) Leaseagreement shares	Dec. 31, 2021 USD ($) shares	Dec. 31, 2020 USD ($)
Loss Contingencies [Line Items]
Number of active lease agreements | Leaseagreement						4
Lessee, operating lease, existence of option to extend						true
Lease option to extend						three additional years
Lease termination date						Nov. 30, 2023
Rent expense						$ 1,000,000.0	$ 700,000
Common stock issued | shares						41,629,426	39,763,049
Cash payment for contingent equity settlement							$ 277,000
Cash paid for measurement of operating lease liability						$ 900,000
Contingent stock liability							$ 0	$ 373,000
Annual maintenance fee pursuant to license agreement				$ 100,000
ULRF
Loss Contingencies [Line Items]
Common stock issued | shares			16,297
Cash payment for contingent equity settlement			$ 300,000
ULRF | IPO
Loss Contingencies [Line Items]
Common stock issued | shares			48,889
Cash payment for contingent equity settlement			$ 300,000
ULRF License Agreement | ULRF
Loss Contingencies [Line Items]
Percentage of compensation on net sales of all licensed products sold					3.00%
Compensation on non-royalty sublicensing income						one third
Common stock issued | shares					65,186
ULRF License Agreement | ULRF | Contingent Equity Consideration
Loss Contingencies [Line Items]
Common stock issued | shares					65,186
ULRF License Agreement | ULRF | Maximum
Loss Contingencies [Line Items]
Compensation on regulatory and sales milestones					$ 1,625,000
Kentucky
Loss Contingencies [Line Items]
Lease termination date		Nov. 30, 2023
Massachusetts
Loss Contingencies [Line Items]
Lease termination date						Mar. 31, 2021
Lease term extension date						2025-09
Lease extension period						39 months
Houston, Texas
Loss Contingencies [Line Items]
Termination date	December 2024
Lease term period	36 months