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Stockholders' Equity - Additional Information (Details) - USD ($) |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Oct. 18, 2022 | Aug. 08, 2022 | Apr. 30, 2021 | Jun. 30, 2014 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Common shares registered for resale | 24,600,000 |  |  |  |  |  |  |
Proceeds from issuance of common stock |  |  |  |  | $ 75,145,000 |  |  |
Private Placement |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Shares of common stock sold |  | 16,100,000 |  |  |  |  |  |
Purchase price per share |  | $ 3.10 |  |  |  |  |  |
Stock issuance cost |  | $ 1,400,000 |  |  |  |  |  |
Proceeds from issuance of common stock and pre-funded warrants |  | $ 75,100,000 |  |  |  |  |  |
Pre-funded Warrants |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Purchase price per share |  | $ 3.0999 |  |  |  |  |  |
Class of warrant or right, number of securities called by warrants or rights |  | 8,500,000 |  | 600,000 |  |  |  |
Class of warrant or right, exercise price of warrants or rights |  | $ 0.0001 |  | $ 0.01 |  |  |  |
Class of warrant or right, expiration date |  |  |  | Jun. 30, 2021 |  |  |  |
Class of warrant or right, exercised during period |  |  | 195,574 |  |  |  | 267,870 | 132,130
Proceeds from issuance of warrants |  |  | $ 0 |  |  |  | $ 2,679,000 | $ 1,321,000
Class of warrant or right, outstanding |  |  |  |  |  | 0 |  |
Common Stock |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Issuance of common stock on exercise of warrants (in shares) |  |  |  |  |  | 195,000 |  |
Common Stock | Private Placement |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Shares of common stock sold |  |  |  |  | 16,129,000 |  |  |
Common Stock | Pre-funded Warrants |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Issuance of common stock on exercise of warrants (in shares) |  |  | 195,461 |  |  |  | 267,870 | 132,130

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