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Stockholders' Equity - (Details) - $ / shares | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021
Common stock reserved |  |
Dividends on common stock | $ 0 |
Reserved shares of common stock for future issuance | 3,359,305 | 3,234,397
Common stock warrants |  |
Common stock reserved |  |
Reserved shares of common stock for future issuance | 18,461 | 27,836
Options Issued and Outstanding [Member] |  |
Common stock reserved |  |
Reserved shares of common stock for future issuance | 1,994,726 | 1,783,298
Shares Available for Future Option Grants [Member] |  |
Common stock reserved |  |
Reserved shares of common stock for future issuance | 689,472 | 1,038,956
RSUs subject to future vesting |  |
Common stock reserved |  |
Reserved shares of common stock for future issuance | 656,646 | 384,307

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