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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Disclosure [Line Items] |  |  |
Provision for income taxes | $ 774,000 |  |
U.S. Statutory federal income tax rate | 21.00% | 21.00% |
Tax credit carryforward, description | The tax credit carryforwards will expire at various dates beginning in 2034. |  |
Unrecognized tax benefit | $ 1,013,000 | $ 564,000 | $ 349,000
Significant change in unrecognized tax benefits | The Company does not expect the amount of unrecognized tax benefits to change over next 12 months. |  |
Interest or penalties related to uncertain tax positions | $ 0 | 0 |
Federal |  |  |
Income Tax Disclosure [Line Items] |  |  |
Net operating loss carryforwards | 203,200,000 | 115,700,000 |
Operating loss carryforwards, subject to expiration | $ 1,300,000 |  |
Operating loss carryforwards, expiration period | 2034 |  |
Operating loss carryforwards, not subject to expiration | $ 201,900,000 |  |
Tax credits | 4,600,000 | 2,700,000 |
State |  |  |
Income Tax Disclosure [Line Items] |  |  |
Net operating loss carryforwards | 164,100,000 | $ 102,900,000 |
Tax credits | 1,200,000 |  |
State | Massachusetts |  |  |
Income Tax Disclosure [Line Items] |  |  |
Operating loss carryforwards, subject to expiration | $ 113,000,000.0 |  |
Operating loss carryforwards, expiration period | 2034 |  |

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