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Stock-based Compensation - Additional Information (Details) - USD ($) |  | 1 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jan. 01, 2016 | Aug. 31, 2022 | Oct. 31, 2021 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Sep. 30, 2019 | Dec. 31, 2015
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Stock option expiration period |  |  |  | 10 years |  |  |  |
Options granted generally vest period |  |  |  |  |  | 36 months |  |
Options granted generally vest percent |  |  |  |  |  | 2.08% |  |
Aggregate intrinsic value of stock options exercised |  |  |  | $ 100,000 | $ 2,200,000 |  |  |
Weighted average grant date fair value, options granted |  |  |  | $ 1.77 | $ 3.97 |  |  |
Unrecognized compensation expense, options granted |  |  |  | $ 14,250,000 |  |  |  |
Number of shares issued during period |  |  |  | 405,192 | 183,865 |  |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Unrecognized stock-based compensation cost, period for recognition |  |  |  | 2 years 6 months |  |  |  |
Employee Stock Purchase Plan [Member] |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Estimated fair value of the shares on the date of grant |  |  |  | 85.00% |  |  |  |
Common stock, capital shares reserved for future issuance |  |  |  | 1,346,626 | 1,751,818 |  |  |
Unrecognized stock-based compensation cost, period for recognition |  |  |  | 5 months |  |  |  |
Plan maximum percentage of eligible compensation to purchase shares |  |  |  | 15.00% |  |  |  |
Stock-based compensation expense |  |  |  | $ 600,000 | $ 400,000 |  |  |
Unrecognized stock-based compensation cost |  |  |  | 200,000 |  |  |  |
Time based RSUs |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Unrecognized compensation expense, options granted |  |  |  | $ 2,800,000 |  |  |  |
Unrecognized stock-based compensation cost, period for recognition |  |  |  | 1 year 10 months 6 days |  |  |  |
Stock-based compensation expense |  |  |  | $ 1,200,000 | $ 200,000 |  |  |
Granted |  |  |  | 1,314,210 |  |  |  |
PSU's Awarded, Grant date fair value |  |  |  | $ 1,941,000 |  |  |  |
Performance based RSUs |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Unrecognized compensation expense, options granted |  |  |  | $ 100,000 |  |  |  |
Unrecognized stock-based compensation cost, period for recognition |  |  |  | 1 year 3 months |  |  |  |
Stock-based compensation expense |  |  |  | $ 55,000 |  |  |  |
Granted |  | 250,000 | 435,000 | 250,000 |  |  |  |
PSU's Awarded, Grant date fair value |  | $ 400,000 | $ 2,300,000 | $ 614,000 |  |  |  |
Share-Based Payment Arrangement, Tranche One [Member] | Performance based RSUs |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Vesting rights, description |  |  |  | 50% of the PSUs granted will occur within one year of the grant date upon achievement of certain specific milestones ("2021-Tranche 1") and the remaining 50% will vest within two years of the grant date upon achievement of additional company objectives ("2021-Tranche 2"). |  |  |  |
Share-Based Payment Arrangement, Tranche Two [Member] |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Options granted generally vest percent |  |  |  | 2.08% |  |  |  |
Share-Based Payment Arrangement, Tranche Two [Member] | Performance based RSUs |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Vesting rights, description |  | Vesting for 50% of the PSUs granted will occur upon attaining certain specific milestones by December 2023 (“2022-Tranche 1”), and the remaining 50% will vest upon attaining certain specific milestones by December 2024 (“2022-Tranche 2”). |  |  |  |  |  |
Two Thousand Fifteen Stock Incentive Plan [Member] |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Stock option expiration period |  |  |  | 10 years |  |  |  |
Employees holding voting rights of all classes of stock, percentage |  |  |  | 10.00% |  |  |  |
Common stock, capital shares reserved for future issuance |  |  |  | 1,932,345 | 2,276,341 |  |  | 2,444,735
Increase in number of shares available for issuance, as proportion of issued and outstanding shares of common stock, percentage | 4.00% |  |  |  |  |  |  |
Two Thousand Fifteen Stock Incentive Plan [Member] | Share-Based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Options granted generally vest period |  |  |  | 4 years |  |  |  |
Options granted generally vest percent |  |  |  | 25.00% |  |  |  |
Two Thousand Nineteen Stock Incentive Plan [Member] |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common stock, capital shares reserved for future issuance |  |  |  | 1,120,740 | 486,234 |  | 1,815,000 |
Increase in Common Stock Capital Shares Reserved For Future Issuance |  |  |  |  | 1,000,000 |  |  |
Tranche One | Performance based RSUs |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  | $ 1,000,000.0 |  |  |  |
Tranche Two | Performance based RSUs |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  | $ 0 |  |  |  |
Minimum [Member] | Two Thousand Fifteen Stock Incentive Plan [Member] |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Estimated fair value of the shares on the date of grant |  |  |  | 110.00% |  |  |  |
Minimum [Member] | Two Thousand Nineteen Stock Incentive Plan [Member] |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Estimated fair value of the shares on the date of grant |  |  |  | 100.00% |  |  |  |
Maximum [Member] | Two Thousand Nineteen Stock Incentive Plan [Member] |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |
Stock option expiration period |  |  |  | 10 years |  |  |  |

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