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Income Taxes (Additional Information) (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Tax Disclosure [Line Items] |  |  |  |
Income tax (benefit) expense | $ 4 | $ 5 | $ (53) |
Deferred tax assets, valuation allowance | 67,543 | 56,643 |  |
Research and development income tax credits | $ 2,000 |  |  |
Tax credit carry forwards expiration year | 2035 |  |  |
Total unrecognized tax benefits | $ 408 | 408 | 406 | $ 385
Unrecognized tax benefits that would impact effective tax rate | 400 | 400 | 400 |
Income tax expense, interest and penalties | 0 | $ 0 | $ 0 |
Liabilities for uncertain tax positions | 0 |  |  |
Federal [Member] |  |  |  |
Income Tax Disclosure [Line Items] |  |  |  |
Operating loss carryforwards | $ 205,600 |  |  |
Operating loss carryforwards, expiration year | 2035 |  |  |
State [Member] |  |  |  |
Income Tax Disclosure [Line Items] |  |  |  |
Operating loss carryforwards | $ 106,900 |  |  |
Operating loss carryforwards, expiration year | 2034 |  |  |

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