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Stockholders' Equity - Additional Information (Details) - USD ($)
 3 Months Ended 9 Months Ended
Dec. 10, 2021
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Jun. 30, 2023
Dec. 31, 2022
Jun. 30, 2022
Dec. 31, 2021
Class Of Stock [Line Items]                  
Preferred stock, shares authorized   10,000,000   10,000,000     10,000,000    
Preferred Stock, value per share   $ 0.001   $ 0.001     $ 0.001    
Preferred stock, issued shares   0   0     0    
Preferred stock, outstanding shares   0   0     0    
Common stock, authorized shares   200,000,000   200,000,000     200,000,000    
Common stock, par value   $ 0.001   $ 0.001     $ 0.001    
Common stock, issued shares   36,926,285   36,926,285     35,262,083    
Common stock, outstanding shares   36,926,285   36,926,285     35,262,083    
Proceeds from issuance of common stock, net       $ 1,000 $ 60,000        
Common Stock                  
Class Of Stock [Line Items]                  
Common stock, outstanding shares   36,926,285 35,262,233 36,926,285 35,262,233 35,963,706 35,262,083 34,976,409 34,611,213
Common stock shares issued and sold     200 2,969 22,964        
Common Stock | Equity Distribution Agreement                  
Class Of Stock [Line Items]                  
Common stock, sale of price per share $ 0.001                
Common Stock | ATM Program                  
Class Of Stock [Line Items]                  
Common stock shares issued and sold   0   0 12,767        
Proceeds from issuance of common stock, net         $ 50,000        
Common Stock | Maximum | Equity Distribution Agreement                  
Class Of Stock [Line Items]                  
Proceeds from issuance of common stock, net $ 125,000