Stock-Based Compensation - Stock Option Award Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, Beginning Balance (in shares)	4,746,368
Granted (in shares)	1,627,683
Canceled or forfeited (in shares)	(428,730)
Exercised (in shares)	0
Outstanding, Ending Balance (in shares)	5,945,321	4,746,368
Options vested and expected to vest (in shares)	1,512,054
Weighted-Average Exercise Price
Beginning Balance (in dollars per share)	$ 5.11
Granted (in dollars per share)	3.45
Canceled or forfeited (in dollars per share)	5.49
Exercised (in dollars per share)	0
Ending Balance (in dollars per share)	4.65	$ 5.11
Options vested and expected to vest (in dollars per share)	$ 5.32
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Options Outstanding, Weighted Average Remaining Contractual Term (years)	9 years 1 month 6 days
Options Vested and Expected to Vest, Weighted Average Remaining Contractual Term (years)	8 years 8 months 12 days
Options Outstanding, Aggregate Intrinsic Value	$ 0	$ 0
Granted, Aggregate Intrinsic Value
Canceled or forfeited, Aggregate Intrinsic Value
Exercised, Aggregate Intrinsic Value
Options vested and expected to vest	$ 0
Minimum
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Exercise price of options outstanding (in dollars per share)	$ 2.42
Maximum
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Exercise price of options outstanding (in dollars per share)	$ 11,340