Nature of Business - Narrative (Details) $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2023 USD ($)	Mar. 31, 2023 USD ($)	Jun. 30, 2022 USD ($)	Mar. 31, 2022 USD ($)	Jun. 30, 2023 USD ($) segment	Jun. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Number of operating segments | segment					1
Net loss	$ (22,925)	$ (16,498)	$ (19,471)	$ (18,019)	$ (39,423)	$ (37,490)
Accumulated deficit	(252,441)				(252,441)		$ (213,018)
Cash and cash equivalents	$ 70,578				$ 70,578		$ 77,563