Organization and Basis of Presentation - Additional Information (Details) $ / shares in Units, $ in Thousands, shares in Millions		3 Months Ended				6 Months Ended
	Sep. 27, 2022 USD ($) $ / shares shares	Jun. 30, 2023 USD ($) $ / shares	Mar. 31, 2023 USD ($)	Jun. 30, 2022 USD ($)	Mar. 31, 2022 USD ($)	Jun. 30, 2023 USD ($) Segment $ / shares shares	Jun. 30, 2022 USD ($)	Dec. 31, 2022 USD ($) $ / shares
Organization And Basis Of Presentation [Line Items]
Warrant exercise price per share | $ / shares		$ 10.95				$ 10.95		$ 12.00
Cash and cash equivalents and short-term investments		$ 65,900				$ 65,900
Cash and cash equivalents		12,567				12,567		$ 17,665
Accumulated deficit		(402,155)				(402,155)		$ (369,094)
Net loss		17,690	$ 15,371	$ 15,137	$ 15,522	33,061	$ 30,659
Cash and cash equivalents used in operations						$ 26,341	$ 31,503
Payment of employee retention credit		4,400
Operating and Reportable segments | Segment						2
Silicon Valley Bank
Organization And Basis Of Presentation [Line Items]
Cash and cash equivalents		$ 900				$ 900
Private Placement
Organization And Basis Of Presentation [Line Items]
Common stock shares issued | shares	23.0
Public offering price per share | $ / shares	$ 0.95
Proceeds from issuance of common stock net of underwriting discounts and commissions and other offering expenses	$ 59,000
Prefunded Warrants
Organization And Basis Of Presentation [Line Items]
Common stock shares issued | shares	43.3					43.3
Public offering price per share | $ / shares	$ 0.949
Warrant exercise price per share | $ / shares	$ 0.001