Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Non-current deferred tax assets:
Net operating loss	$ 37,783	$ 32,403
Research and development credits	9,820	9,820
Other credits	4,165	4,164
Operating lease liabilities	1,037	566
Stock-based compensation	1,164	476
Property and equipment and intangible assets	0	653
Capitalized research and development	912	0
Accruals and reserves	133	387
Gross non-current deferred tax assets	55,014	48,469
Right-of-use assets, operating leases	(1,037)	(471)
Property and equipment and intangible assets	(23)	0
Total non-current deferred tax liabilities	(1,060)	(471)
Total deferred tax assets	53,954	47,998
Valuation allowance	(53,924)	(47,915)
Net deferred tax assets	$ 30	$ 83