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Summary of Significant Accounting Policies - Securities (Details) - shares
 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 2,994,617 3,052,363
Warrants to purchase common stock    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 409,108 409,108
Common stock options    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 1,004,855 1,820,555
Restricted stock units    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 1,568,112 805,496
Employee stock purchase plan    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 12,542 17,204