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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Income taxes    
Income tax expense (benefit) $ 0 $ 0
(Decrease) increase in valuation allowance (2,610) 3,866
Research and development tax credit carryforwards 1,728  
Unrecognized income tax 0 $ 0
Federal    
Income taxes    
Operating loss carryforwards that expire 17,930  
Operating loss carryforwards that do not expire 18,342  
Net operating loss carryforwards 36,272  
State    
Income taxes    
Net operating loss carryforwards 12,248  
Foreign    
Income taxes    
Net operating loss carryforwards $ 314