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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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