Balance Sheet Components - Schedule of Accrued Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Clinical trials and research and development costs	$ 8,553	$ 14,597
Personnel-related costs	4,714	9,181
Accrued expenses	3,222	3,834
Manufacturing costs	2,639	6,026
Total accrued liabilities	$ 19,128	$ 33,638	[1]

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