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Stock Based Compensation - Summary of Outstanding Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]    
Number of shares, Beginning balance 2,000,000  
Number of shares, Granted 451,000  
Number of shares, Exercised (9,000)  
Number of shares, Expired/Forfeited (377,000)  
Number of shares, Ending balance 2,065,000 2,000,000
Number of shares, Vested and exercisable 1,370,000  
Number of shares, Vested and expected to vest 2,065,000  
Weighted average exercise price, Beginning balance $ 12.79  
Weighted average exercise price, Granted 8.58  
Weighted average exercise price, Exercised 2.30  
Weighted average exercise price, Expired/Forfeited 13.56  
Weighted average exercise price, Ending balance 11.78 $ 12.79
Weighted average exercise price, Vested and exercisable 11.42  
Weighted average exercise price, Vested and expected to vest $ 11.78  
Weighted average remaining contractual term 6 years 8 months 12 days 7 years 3 months 18 days
Weighted average remaining contractual term, Vested and exercisable 5 years 7 months 6 days  
Weighted average remaining contractual term, Vested and expected to vest 6 years 8 months 12 days  
Aggregate intrinsic value, Beginning Balance $ 2,246  
Intrinsic value of stock options exercised 59  
Aggregate Intrinsic Value, Ending Balance 758 $ 2,246
Aggregate intrinsic value vested and exercisable 758  
Stock options expected to vest aggregate intrinsic value $ 758