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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Jan. 01, 2022
Operating Loss Carryforwards [Line Items]        
Tax credit carry forwards expiration start year 2036      
Research and development credits $ 3,775,000 $ 2,392,000    
Deferred tax assets, deferred expense, capitalized research and development costs increase       $ 6,700,000
Uncertain income tax position, Description An uncertain income tax position will not be recognized if it has less than a 50% likelihood of being sustained.      
Reinsurance Retention Policy Amount Retained   1,000,000 $ 300,000  
Income tax expense (benefit) $ 0 0    
Net valuation allowance increased   $ 9,700,000    
Domestic Tax Authority [Member]        
Operating Loss Carryforwards [Line Items]        
Tax credit carry forward 1,300,000      
Capitalized expenses, amortization period       5 years
Net operating loss carryforwards $ 139,400,000      
Domestic Tax Authority [Member] | Research Tax Credit Carryforward [Member]        
Operating Loss Carryforwards [Line Items]        
Tax credit carry forwards expiration start year 2036      
Research and development credits $ 2,200,000      
Domestic Tax Authority [Member] | Indefinite Tax Year [Member]        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 127,000,000      
State and Local Jurisdiction [Member]        
Operating Loss Carryforwards [Line Items]        
Tax credit carry forward 27,400,000      
Research and development credits 3,800,000      
Capitalized expenses, amortization period       15 years
Net operating loss carryforwards $ 53,000,000      
State and Local Jurisdiction [Member] | Research Tax Credit Carryforward [Member]        
Operating Loss Carryforwards [Line Items]        
Tax credit carry forwards expiration start year indefinitely