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Income Taxes - Deferred tax assets (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Deferred tax assets:    
Federal and state net operating loss carryforwards $ 49,789,000 $ 44,451,000
Research and development tax credits 11,395,000 8,862,000
Capitalized R&D Costs 12,424,000  
Operating lease liabilities 1,960,000  
Share-based compensation 4,389,000 3,184,000
Accruals and other 1,305,000 1,291,000
Gross deferred tax assets 81,262,000 57,788,000
Less: valuation allowance (79,724,000) (57,705,000)
Total deferred tax assets 1,538,000 83,000
Deferred tax liabilities:    
Depreciation and amortization   (83,000)
Operating lease assets (1,538,000)  
Gross deferred tax liabilities (1,538,000) $ (83,000)
Increase in valuation allowance 21,900,000  
Federal net operating loss carryforwards 180,200,000  
State net operating loss carryforwards 183,100,000  
Federal net operating loss carryforwards that do not expire 157,500,000  
Federal research and development tax credit carryforwards 11,300,000  
State research and development tax credit carryforwards 100,000  
Unrecognized income tax benefits $ 0