Stockholders' Equity - Additional information (Details)	3 Months Ended		12 Months Ended
	Mar. 31, 2023 USD ($) item $ / shares shares	Mar. 31, 2022 USD ($) shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 shares	Dec. 31, 2020 USD ($) $ / shares shares	Aug. 31, 2021 USD ($)	Dec. 22, 2020 $ / shares	Dec. 31, 2019 USD ($) shares
Capital Stock Shares authorized	120,000,000
Common stock, shares authorized	79,999,997		79,999,997
Common Stock, Par Value Per Share | $ / shares	$ 0.01		$ 0.01
Special stock shares authorized	1		1
Special stock, par value (in dollars per share) | $ / shares	$ 0.01		$ 0.01
Excess stock shares authorized	1		1
Common stock, shares issued	43,903,363	43,903,363	43,448,384
Common stock, shares outstanding	37,163,137	37,163,137	36,907,862
Warrant liability | $	$ 10,000		$ 76,000
Warrants, term								10 years
Warrants to purchase common stock issued (in shares)								7,179,000
Warrants, exercise price (in dollars per share) | $ / shares	$ 4.31						$ 4.50
Threshold minimum beneficial ownership (as a percent)	5.00%							5.00%
Threshold maximum percentage of issued and outstanding common stock, after exercise of warrants (as a percent)								19.90%
Unrealized gain (loss) on warrants | $	$ 66,000	$ (369,000)
Number of board members who can be appointed by the warrant holder | item	1
Preemptive rights period	5 years
Share repurchase program, authorized amount | $								$ 5,000,000.0
Share repurchase program, number of shares repurchased (in shares)	0		0	0	250,197
Share repurchase program, average price paid per share (in dollars per share) | $ / shares					$ 1.93
Share repurchase program, approximate dollar value of shares available for purchase | $	$ 4,500,000
Stock repurchase program, shares repurchased, amount | $					$ 483,361
Series A And B Preferred Stock
Excess stock shares authorized	1		1
ATM Program
Stock Issuance Program, Maximum Amount Authorized | $						$ 10,000,000.0
ATM Program | Common Stock
Shares issued	0		0
Preferred Stock
Preferred stock, shares authorized	2		2
Preferred stock, per value (in dollars per share) | $ / shares	$ 0.01		$ 0.01
Blank Check Preferred Stock
Preferred stock, shares authorized	40,000,000		40,000,000
Preferred stock, per value (in dollars per share) | $ / shares	$ 0.01		$ 0.01
Special stock shares authorized	40,000,000		40,000,000