Stockholders' Equity - Assumptions Used in Black-Scholes Option Pricing Model (Details) |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||
| Dividend yield | 0.00% | ||
| 2014 Plan | |||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||
| Risk-free interest rate, minimum | 1.69% | 0.66% | 0.32% |
| Risk-free interest rate, maximum | 4.17% | 1.37% | 1.38% |
| Dividend yield | 0.00% | 0.00% | 0.00% |
| Volatility, minimum | 79.77% | 77.81% | 69.56% |
| Volatility, maximum | 91.57% | 81.79% | 75.91% |
| 2014 Plan | Minimum | |||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||
| Expected term (years) | 5 years 6 months 3 days | 5 years 6 months 3 days | 5 years 6 months 3 days |
| 2014 Plan | Maximum | |||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||
| Expected term (years) | 6 years 3 months | 6 years 3 months | 6 years 3 months |