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Summary of Significant Accounting Policies - Additional Information (Details)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
USD ($)
financialInstitution
lease
Dec. 31, 2022
USD ($)
Jun. 30, 2022
USD ($)
Jun. 30, 2023
USD ($)
financialInstitution
lease
Jun. 30, 2022
USD ($)
Jan. 31, 2023
shares
Property, Plant and Equipment [Line Items]            
Cash and cash equivalents $ 77,294,000 $ 106,745,000   $ 77,294,000    
Number of financial institutions used for cash deposits | financialInstitution 2     2    
Depreciation expense $ 22,000   $ 20,000 $ 54,000 $ 41,000  
Impairment losses 0   0 $ 0 0  
Goodwill, impairment loss   $ 33,000,000        
Government assistance rate       43.50%    
Government assistance, amount $ 300,000   $ 600,000 $ 2,100,000 $ 1,400,000  
Government Assistance, Statement of Income or Comprehensive Income [Extensible Enumeration] Nonoperating Income (Expense)     Nonoperating Income (Expense)    
Number of existing leases | lease 3     3    
Pre-Funded Warrants            
Property, Plant and Equipment [Line Items]            
Warrant exercised (in shares) | shares           5,096,552
United States            
Property, Plant and Equipment [Line Items]            
Cash and cash equivalents $ 62,700,000     $ 62,700,000    
United States | Money market funds            
Property, Plant and Equipment [Line Items]            
Investment interest rate 5.00%     5.00%    
Germany            
Property, Plant and Equipment [Line Items]            
Cash and cash equivalents $ 14,400,000     $ 14,400,000    
Australia            
Property, Plant and Equipment [Line Items]            
Cash and cash equivalents $ 200,000     $ 200,000    
Maximum            
Property, Plant and Equipment [Line Items]            
Estimated useful life (in years) 13 years     13 years    
Lease term (in months) 60 months     60 months    
Maximum | Australia and Germany            
Property, Plant and Equipment [Line Items]            
Investment interest rate 2.75%     2.75%    
Minimum            
Property, Plant and Equipment [Line Items]            
Estimated useful life (in years) 3 years     3 years    
Lease term (in months) 12 months     12 months    
Minimum | Australia and Germany            
Property, Plant and Equipment [Line Items]            
Investment interest rate 1.75%     1.75%