Stock-based Compensation - Stock Option Award Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023	Dec. 31, 2022
Number of Options
Outstanding, Beginning Balance (in shares)	5,945,321
Granted (in shares)	55,918
Canceled or forfeited (in shares)	(117,278)
Exercised (in shares)	0
Outstanding, Ending Balance (in shares)	5,883,961	5,945,321
Options vested and expected to vest (in shares)	1,496,017
Weighted-Average Exercise Price
Beginning Balance (in dollars per share)	$ 4.65
Granted (in dollars per share)	2.12
Canceled or forfeited (in dollars per share)	4.62
Exercised (in dollars per share)	0
Ending Balance (in dollars per share)	4.63	$ 4.65
Options vested and expected to vest (in dollars per share)	$ 5.25
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Options Outstanding, Weighted Average Remaining Contractual Term (years)	8 years 8 months 12 days	9 years 1 month 6 days
Options Vested and Expected to Vest, Weighted Average Remaining Contractual Term (years)	7 years 10 months 24 days
Options Outstanding, Aggregate Intrinsic Value	$ 0	$ 0
Granted, Aggregate Intrinsic Value	0
Canceled or forfeited, Aggregate Intrinsic Value	0
Exercised, Aggregate Intrinsic Value	0
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)	$ 2.12
Maximum
Weighted-Average Remaining Contractual Term (years) And Aggregate Intrinsic Value
Exercise price of options outstanding (in dollars per share)	$ 11,160