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Stockholder's Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 12 Months Ended
--- | --- | ---
Aug. 07, 2020 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Class Of Stock [Line Items] |  |  |  |
Common stock par value (in dollars per share) |  | $ 0.001 | $ 0.001 |
Aggregate offering price of common stock |  |  |  | $ 4,373
ATM Equity Offering Sales Agreement |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Stock issued during period, shares |  | 0 | 0 | 237,813
Shares issued, price per share |  |  |  | $ 18.39
Net proceeds from issuance of common stock |  |  |  | $ 4,400
ATM Equity Offering Sales Agreement | BofA Securities, Inc. |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Common stock par value (in dollars per share) | $ 0.001 |  |  |
ATM Equity Offering Sales Agreement | BofA Securities, Inc. | Maximum |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Aggregate offering price of common stock | $ 30,000 |  |  |

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