Balance Sheet Components - Schedule of Reconciliation of Cash, Cash Equivalent and Restricted Cash (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022		Jun. 30, 2022	Dec. 31, 2021
Balance Sheet Related Disclosures [Abstract]
Cash and cash equivalents	$ 53,271	$ 73,456	[1]
Restricted cash	3,954	3,954
Total cash, cash equivalents and restricted cash	$ 57,225	$ 77,410		$ 64,878	$ 153,294

[1] The condensed consolidated balance sheet as of December 31, 2022 has been derived from the audited financial statements as of that date.