Income Taxes - Additional Information (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Income Taxes | |||
| U.S. Federal statutory income tax rate (as percent) | 21.00% | 21.00% | |
| Increase in valuation allowance for deferred tax assets | $ 8,700 | $ 6,500 | |
| U.S. federal net operating loss carryforwards | 106,900 | ||
| U.S. federal net operating loss carryforwards, begin to expire in 2033 | 23,300 | ||
| U.S. federal net operating loss carryforwards, carried over indefinitely | 83,600 | ||
| Federal research and development tax credits, begin to expire in 2033 | 1,200 | ||
| State net operating loss carryforwards, begin to expire in 2023 | 82,300 | ||
| State research and development tax credits | 1,500 | ||
| Unrecognized tax benefits | 430 | $ 313 | $ 247 |
| Unrecognized tax benefits would impact the effective tax rate | $ 0 | ||