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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 6 Months Ended
Mar. 31, 2023
Jul. 31, 2020
Apr. 30, 2019
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Jul. 31, 2022
Feb. 28, 2018
Feb. 15, 2018
Stockholders Equity [Line Items]                  
Common stock, shares authorized (in shares)       240,000,000   240,000,000      
Exercise Price (in usd per share)               $ 3.00  
Estimated fair value of warrants recorded in equity                 $ 3,000
Warrant, exercise price, decrease (in usd per share)   $ 0.96 $ 0.98            
Number of common stock warrants exercised (in shares)       1,353,515 0        
Warrant exercises, gross       $ 1,300          
March 2023 At The Market Sales Agreement                  
Stockholders Equity [Line Items]                  
Commission percent 3.00%                
Sale of stock, number of shares issued (in shares)       454,592          
Shares of common stock for net proceeds       $ 463          
Offering expenses       $ 11          
October 2021 At The Market Sales Agreement                  
Stockholders Equity [Line Items]                  
Sale of stock, number of shares issued (in shares)       0 0        
April 2021 At The Market Sales Agreement                  
Stockholders Equity [Line Items]                  
Sale of stock, number of shares issued (in shares)       0 0        
Maximum                  
Stockholders Equity [Line Items]                  
Common stock, shares authorized (in shares)             240,000,000    
Issued shares $ 50,000