Income Tax - Schedule of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Components of Deferred Tax Assets [Abstract]
Net Operating Loss	$ 70,179	$ 62,347
Amortization	99	117
R&D expenditures capitalization	4,879	0
Stock-based compensation	2,960	2,829
Research and Development Credit	9,202	7,902
Right of use of Liability	1,204	1,290
Depreciation	779	536
Other	2,332	1,745
Gross deferred tax assets	91,634	76,766
Less: Valuation Allowance	(90,471)	(75,546)
Total net deferred tax assets	1,163	1,220
Right-of-use asset	(1,163)	(1,220)
Total deferred tax liabilities	(1,163)	(1,220)
Net deferred tax assets	$ 0	$ 0