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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2019 | Dec. 31, 2020
Income Taxes [Line Items] |  |  |  |
Provision or benefit for income taxes | $ 0 | $ 0 |  |
Increase in valuation allowance of net deferred tax assets | 27,000,000.0 | 20,700,000 |  |
Gross unrecognized tax benefits | 2,339,000 | 1,359,000 |  | $ 777,000
Unrecognized tax benefits, penalties and interest expense | 0 | $ 0 |  |
Net Operating Loss and Tax Credit Carryforwards to Offset | Minimum |  |  |  |
Income Taxes [Line Items] |  |  |  |
Changes in ownership by stockholders holding percentage |  |  | 5.00% |
Federal |  |  |  |
Income Taxes [Line Items] |  |  |  |
Net operating loss carryforwards | 153,300,000 |  |  |
Federal | Research and Development Credit Carry Forwards |  |  |  |
Income Taxes [Line Items] |  |  |  |
Tax credit carryforwards | $ 9,900,000 |  |  |
Tax credit carryforwards, expire | 2035 |  |  |
Federal | 2035 |  |  |  |
Income Taxes [Line Items] |  |  |  |
Net operating loss carryforwards | $ 200,000 |  |  |
Net operating loss carryforwards, expire | 2035 |  |  |
Federal | 2036 |  |  |  |
Income Taxes [Line Items] |  |  |  |
Net operating loss carryforwards | $ 3,000,000.0 |  |  |
Net operating loss carryforwards, expire | 2036 |  |  |
Federal | Carry Forward Indefinitely |  |  |  |
Income Taxes [Line Items] |  |  |  |
Net operating loss carryforwards | $ 150,100,000 |  |  |
California State |  |  |  |
Income Taxes [Line Items] |  |  |  |
Net operating loss carryforwards | $ 65,100,000 |  |  |
Net operating loss carryforwards, expire | 2036 |  |  |
California State | Research and Development Credit Carry Forwards |  |  |  |
Income Taxes [Line Items] |  |  |  |
Tax credit carryforwards | $ 5,600,000 |  |  |

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