Commitments and Contingencies - Service Agreements Narrative (Details) - USD ($) $ in Thousands	1 Months Ended	12 Months Ended
	Dec. 31, 2011	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
CTS Agreement
Service Agreements
License fee amount		$ 2,278	$ 2,466	$ 1,739
Notice period for termination of agreement		6 months
Master Services Agreement For Clinical Research and Related Services
Service Agreements
Service agreement amount paid upon execution of agreement	$ 151
Payment for service fees		$ 1,254	$ 1,100	$ 1,136