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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