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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2017
Income Tax Contingency [Line Items]      
Deferred tax asset, net change in total valuation allowance increase during period $ 22,700,000 $ 24,800,000  
Unrecognized tax benefits would affect company's effective tax rate 0 0  
Interest and penalties accrued 0 $ 0  
Minimum      
Income Tax Contingency [Line Items]      
Percentage of change in ownership     50.00%
Federal      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards $ 268,800,000    
Operating loss carryforwards expiration year 2034    
Operating loss carryforwards to expire if not utilized $ 65,600,000    
Operating loss carryforwards not subject to expiration 203,200,000    
Federal | Research and Development Tax Credits      
Income Tax Contingency [Line Items]      
Tax credit carry forwards $ 23,000,000.0    
Tax credit carryforward, expiration 2031    
State      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards $ 25,700,000    
Operating loss carryforwards expiration year 2032    
State | Research and Development Tax Credits      
Income Tax Contingency [Line Items]      
Tax credit carry forwards $ 13,000,000.0