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Description of the Business - Additional Information (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Jul. 08, 2021
USD ($)
$ / shares
shares
May 06, 2021
USD ($)
Mar. 31, 2023
USD ($)
Segments
shares
Mar. 31, 2022
USD ($)
Dec. 31, 2022
USD ($)
$ / shares
shares
Description Of Business [Line Items]          
Number of operating segment | Segments     1    
Accumulated deficit     $ 358,175   $ 334,230
Common Stock, Shares, Issued | shares     45,091,215   45,089,537
Stock Issued During Period, Value, Stock Options Exercised       $ 16  
Registered Direct Offering [Member]          
Description Of Business [Line Items]          
Common Stock, Shares, Issued | shares         5,376,344
Shares Issued, Price Per Share | $ / shares         $ 4.65
Sale of Stock, Consideration Received on Transaction         $ 24,600
Proceeds from issuance of common stock         25,000
At-The-Market Sales Agreement and Offering          
Description Of Business [Line Items]          
Sale of Stock, Number of Shares Issued in Transaction | shares 2,597,402        
Proceeds from issuance of common stock $ 50,000        
Sale of Stock, Price Per Share | $ / shares $ 19.25        
At-The-Market Sales Agreement and Offering | Maximum          
Description Of Business [Line Items]          
Proceeds from issuance of common stock   $ 150,000      
Common Stock | Registered Direct Offering [Member]          
Description Of Business [Line Items]          
Underwriting discounts and commissions and other offering expenses         400
Underwriting Discounts Commissions And Other Offering Expenses         $ 400
Common Stock | At-The-Market Sales Agreement and Offering          
Description Of Business [Line Items]          
Underwriting discounts and commissions and other offering expenses $ 1,900        
Underwriting Discounts Commissions And Other Offering Expenses 1,900        
Sale of Stock, Consideration Received on Transaction $ 48,100