Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Operating Loss Carryforwards [Line Items]      
Income tax expense $ 11,000 $ 6,000 $ 5,000
Valuation allowance, deferred tax asset, increase (decrease), amount 50,300,000    
Balance at the beginning of the year 47,175,000 49,627,000 $ 31,886,000
Decrease in unrecognized tax benefits is reasonably possible 47,200,000 $ 49,600,000  
Unrecognized tax benefits, income tax penalties and interest accrued 0    
Federal      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 540,800,000    
Net operating losses subject to expiration 150,251,000    
Research and development tax credit carryforwards 66,600,000    
State      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 550,900,000    
Net operating losses subject to expiration 550,714,000    
Research and development tax credit carryforwards 58,800,000    
State | Tax Year 2029      
Operating Loss Carryforwards [Line Items]      
Net operating losses subject to expiration $ 550,700,000