Net Loss per Share - Antidilutive Securities (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Diluted net loss per share attributable to common stockholders      
Antidilutive securities excluded from computation of of diluted weighted average shares outstanding 14,886,911 18,290,816 16,570,124
Restricted Stock      
Diluted net loss per share attributable to common stockholders      
Antidilutive securities excluded from computation of of diluted weighted average shares outstanding 433,203 794,244 252,000
Equity Option      
Diluted net loss per share attributable to common stockholders      
Antidilutive securities excluded from computation of of diluted weighted average shares outstanding 14,453,708 17,496,572 16,318,124