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Stock-Based Compensation - Additional Information (Details) | 12 Months Ended |
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Dec. 31, 2022 USD ($) Plan $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of stock compensation plans | Plan | 3 |  |
Number of options outstanding | 5,218,033 | 4,213,977 | 3,621,479
Range of exercise prices | $ / shares | $ 8.69 | $ 10.33 | $ 10.63
Aggregate intrinsic value of options exercised | $ | $ 0 |  |
Unrecognized stock-based compensation expense | $ | $ 10,500,000 |  |
Unrecognized stock-based compensation expense, recognized over estimated weighted average period | 2 years 6 months |  |
Stock-based compensation expense | $ | $ 8,153,000 | $ 7,904,000 |
Minimum [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Range of exercise prices | $ / shares | $ 2.45 |  |
Maximum [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Range of exercise prices | $ / shares |  | $ 2,147 |
2020 Stock Incentive Plan [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock, number of shares reserved for issuance | 4,860,000 |  |
Number of options outstanding | 1,733,392 |  |
Options granted, expiration period | 10 years |  |
Stock awards available for grant | 3,126,608 |  |
2014 Stock Incentive Plan [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock, number of shares reserved for issuance | 0 |  |
Number of options outstanding | 72,519 |  |
Options granted, expiration period | 10 years |  |
2007 Stock Incentive Plan [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of options outstanding | 1,151 |  |
Options granted, expiration period | 10 years |  |

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