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Common Stock (Details)
 1 Months Ended 9 Months Ended
Mar. 28, 2023
USD ($)
Nov. 30, 2021
USD ($)
Mar. 31, 2020
USD ($)
Sep. 30, 2023
USD ($)
Vote
shares
Dec. 31, 2022
shares
Common Stock          
Common stock, shares authorized for issuance | shares       290,000,000 290,000,000
Preferred stock, shares authorized for issuance | shares       10,000,000 10,000,000
Number of votes per share of common stock | Vote       1  
Dividends on common stock | $       $ 0  
Net proceeds from sale of stock | $       $ 7,843,000  
Shares of common stock reserved for issuance, on an as-converted basis          
Shares available for future option grants | shares       5,099,421 4,017,011
Outstanding options | shares       7,762,672 7,006,250
Shares reserved for employee stock purchase plan | shares       400,000 400,000
Total | shares       13,262,093 11,423,261
At-the-market offering | Jefferies LLC | 2020 Sales Agreement          
Common Stock          
Common stock remained available for sale | $       $ 81,900,000  
At-the-market offering | Jefferies LLC | 2020 Sales Agreement | Maximum          
Common Stock          
Potential gross proceeds | $     $ 50,000,000    
At-the-market offering | Jefferies LLC | 2021 sales agreement | Maximum          
Common Stock          
Potential gross proceeds | $   $ 40,000,000      
At-the-market offering | Jefferies LLC | 2023 Sales Agreement          
Common Stock          
Net proceeds from sale of stock | $       $ 7,800,000  
Stock issuance costs, as a percent of gross proceeds 3.00%        
Common stock shares sold | shares       2,461,903  
At-the-market offering | Jefferies LLC | 2023 Sales Agreement | Maximum          
Common Stock          
Potential gross proceeds | $ $ 90,000,000