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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