Fair Value of Financial Instruments - Schedule of Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Assets:
Total assets at fair value	$ 73,784
U.S. Treasury Securities
Assets:
Total assets at fair value	33,622
Commercial Paper and Corporate Bonds
Assets:
Total assets at fair value	40,162
Fair Value Measurements Recurring Basis
Assets:
Total cash equivalents at fair value	16,242
Total assets at fair value	90,026
Fair Value Measurements Recurring Basis | Contingent Earnout
Liabilities:
Liabilities		$ 524
Fair Value Measurements Recurring Basis | Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets:
Total cash equivalents at fair value	12,253
Total assets at fair value	45,875
Fair Value Measurements Recurring Basis | Significant Other Observable Inputs (Level 2)
Assets:
Total cash equivalents at fair value	3,989
Total assets at fair value	44,151
Fair Value Measurements Recurring Basis | Significant Unobservable Inputs (Level 3) | Contingent Earnout
Liabilities:
Liabilities		524
Fair Value Measurements Recurring Basis | Short-Term Investments
Assets:
Total assets at fair value	73,784
Fair Value Measurements Recurring Basis | Short-Term Investments | Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets:
Total assets at fair value	33,622
Fair Value Measurements Recurring Basis | Short-Term Investments | Significant Other Observable Inputs (Level 2)
Assets:
Total assets at fair value	40,162
Fair Value Measurements Recurring Basis | Money Market Funds
Assets:
Total cash equivalents at fair value	12,253
Total assets at fair value		84,102
Fair Value Measurements Recurring Basis | Money Market Funds | Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets:
Total cash equivalents at fair value	12,253
Total assets at fair value		$ 84,102
Fair Value Measurements Recurring Basis | Commercial Paper
Assets:
Total cash equivalents at fair value	1,998
Fair Value Measurements Recurring Basis | Commercial Paper | Significant Other Observable Inputs (Level 2)
Assets:
Total cash equivalents at fair value	1,998
Fair Value Measurements Recurring Basis | U.S. Government Agency Bonds
Assets:
Total cash equivalents at fair value	1,991
Fair Value Measurements Recurring Basis | U.S. Government Agency Bonds | Significant Other Observable Inputs (Level 2)
Assets:
Total cash equivalents at fair value	1,991
Fair Value Measurements Recurring Basis | U.S. Treasury Securities | Short-Term Investments
Assets:
Total assets at fair value	33,622
Fair Value Measurements Recurring Basis | U.S. Treasury Securities | Short-Term Investments | Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets:
Total assets at fair value	33,622
Fair Value Measurements Recurring Basis | Commercial Paper and Corporate Bonds | Short-Term Investments
Assets:
Total assets at fair value	40,162
Fair Value Measurements Recurring Basis | Commercial Paper and Corporate Bonds | Short-Term Investments | Significant Other Observable Inputs (Level 2)
Assets:
Total assets at fair value	$ 40,162