Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	17,074,046	1,433,492	1,219,315
Stock options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,727,327	665,727	546,861
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,204,421	268,749	173,438
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	14,142,298	499,016	499,016