Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	Jan. 20, 2017	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Jun. 16, 2022
Options
Outstanding balance at the beginning of the period (in shares)		8,525,618	6,393,853
Granted (in shares)		4,024,900	2,482,650
Exercised (in shares)			2,292
Forfeited (in shares)		(633,187)	(348,593)
Outstanding balance at the end of the period (in shares)		11,917,331	8,525,618	6,393,853
Options exercisable at the end of the period (in shares)		7,543,973
Options vested and expected to vest at end of period (in shares)		11,917,331
Weighted Average Exercise Price Per Share
Outstanding balance at the beginning of the period (in dollars per share)		$ 4.48	$ 5.29
Granted (in dollars per share)		1.50	2.19
Exercised (in dollars per share)			1.55
Forfeited (in dollars per share)		2.17	3.17
Outstanding balance at the end of the period (in dollars per share)		3.59	$ 4.48	$ 5.29
Options exercisable at the end of the period (in dollars per share)		4.74
Options vested and expected to vest at end of the period (in dollars per share)		$ 3.59
Weighted Average Remaining Life in Years
Outstanding balance		7 years 5 months 19 days	7 years 6 months 29 days	7 years 11 months 15 days
Options exercisable at end of period		6 years 5 months 15 days
Options vested and expected to vest at end of the period		7 years 5 months 19 days
Aggregate Intrinsic Value
Outstanding balance			$ 7,673	$ 1,961
Assumptions used to determine grant-date fair value
Expected Volatility		82.70%	67.64%
Weighted average risk-free interest rate		3.10%	0.82%
Expected dividend yield		0.00%	0.00%
Expected term (in years)		6 years 5 months 1 day	6 years 9 months 25 days
Expiration period		10 years
unrecognized compensation cost related to non-vested stock options		$ 4,644
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Non vested, Weighted Average Grant Date Fair Value
Stock-based compensation expense		5,180	$ 3,686
Research and development
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Non vested, Weighted Average Grant Date Fair Value
Stock-based compensation expense		2,540	1,641
General and administrative
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Non vested, Weighted Average Grant Date Fair Value
Stock-based compensation expense		$ 2,640	$ 2,045
Weighted Average
Assumptions used to determine grant-date fair value
Weighted average period for recognition of compensation cost		2 years 2 months 15 days
Minimum
Assumptions used to determine grant-date fair value
Vesting period		3 years
Maximum
Assumptions used to determine grant-date fair value
Vesting period		4 years
2016 Plan
Assumptions used to determine grant-date fair value
Annual increase in authorized shares (as a percent)	4.00%
Number of options or stock awards available for grant under the Plan		5,400,921
2022 Plan
Assumptions used to determine grant-date fair value
Number of options or stock awards available for grant under the Plan					7,500,000
Restricted stock units to purchase common stock
Assumptions used to determine grant-date fair value
Aggregate grant fair value		$ 6,777
Restricted stock units to purchase common stock | Executive Officer
Assumptions used to determine grant-date fair value
Vesting period		3 years
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Awarded		2,650,000	275,000
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Non vested, Weighted Average Grant Date Fair Value
Stock-based compensation expense		$ 2,086	$ 530
Restricted stock units to purchase common stock | 2016 Plan
Assumptions used to determine grant-date fair value
Options unvested at end of period (in dollars per share)		$ 1.89	$ 1.76	$ 1.52
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Outstanding at the beginning		935,606	753,106
Awarded		2,650,000	275,000
Outstanding at the end		3,585,606	935,606	753,106
Settled in cash			(92,500)
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Non vested, Weighted Average Grant Date Fair Value
Outstanding at beginning( in dollars per share)		$ 1.76	$ 1.52
Awarded (in dollars per share)		1.94	2.57
Outstanding at end(in dollars per share)		$ 1.89	1.76	$ 1.52
Settled in cash(in dollars per share)			$ 1.97