Stockholders' Equity - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Equity [Abstract]
Number of Shares Underlying Outstanding Options, Beginning balance	2,175,685
Number of Shares Underlying Outstanding Options, Granted	354,800
Number of Shares Underlying Outstanding Options, Exercised	(57,654)
Number of Shares Underlying Outstanding Options, Forfeited or Cancelled	(182,235)
Number of Shares Underlying Outstanding Options, Ending balance	2,290,596	2,175,685
Number of Shares Underlying Outstanding Options, Shares Exercisable	1,605,804
Number of Shares Underlying Outstanding Options, Vested and Expected to Vest	2,290,596
Weighted Average Exercise Price, Outstanding beginning balance	$ 9.27
Weighted Average Exercise Price, Options granted	1.88
Weighted Average Exercise Price, Options exercised	0.61
Weighted Average Exercise Price, Options forfeited or cancelled	9.38
Weighted Average Exercise Price, Oustanding ending balance	8.33	$ 9.27
Weighted Average Exercise Price, Shares exercisable	9.54
Weighted Average Exercise Price, vested and expected to vest	$ 8.33
Weighted Average Remaining Contractual Term (in years), Outstanding	8 years	8 years 8 months 12 days
Weighted Average Remaining Contractual Term (in years), Shares exercisable	7 years 7 months 6 days
Weighted Average Remaining Contractual Term (in years), Vested and Expected to Vest	8 years
Aggregate Intrinsic Value, Outstanding	$ 1	$ 2,856
Aggregate Intrinsic Value, Vested and expected to vest	$ 1