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Stock-Based Compensation - Schedule of Share Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Number of Options Outstanding |  |  |
Granted | 522,337 | 552,153 |
Exercised (in shares) | 0 | (6,600) |
Stock options |  |  |
Number of Options Outstanding |  |  |
Options outstanding | 1,099,357 | 602,683 |
Granted | 522,337 | 552,153 |
Exercised (in shares) |  | (6,600) |
Cancelled/forfeited | (11,104) | (48,879) |
Options outstanding | 1,610,590 | 1,099,357 | 602,683
Unvested | 872,957 |  |
Vested and exercisable | 737,633 |  |
Weighted Average Exercise Price Per Share |  |  |
Options outstanding | $ 7.53 | $ 11.01 |
Granted | 2.41 | 4.26 |
Exercised |  | 3.35 |
Cancelled/forfeited (in dollars per share) | 10.49 | 14.18 |
Options outstanding | 5.85 | $ 7.53 | $ 11.01
Unvested | 3.09 |  |
Vested and exercisable | $ 9.11 |  |
Weighted Average Remaining Contractual Term (Years) |  |  |
Options outstanding | 8 years 4 months 2 days | 8 years 11 months 26 days | 9 years 4 months 20 days
Unvested | 8 years 11 months 1 day |  |
Vested and exercisable | 7 years 8 months 1 day |  |
Aggregate Intrinsic Value |  |  |
Options Outstanding |  | $ 189 | $ 1,861
Options Outstanding | $ 189 | $ 1,861 |

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- Definition Weighted average remaining contractual term for unvested options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References No definition available. + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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