Stock-Based Compensation - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	6 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares
Stock Options
Beginning balance (in shares) | shares	5,610,893
Granted (in shares) | shares	1,793,600
Forfeited (in shares) | shares	(12,000)
Expired (in shares) | shares	(2,104)
Ending balance (in shares) | shares	7,390,389
Vested and exercisable (in shares) | shares	3,285,716
Weighted Average Exercise Price
Beginning balance (in dollars per share) | $ / shares	$ 3.36
Granted (in dollars per share) | $ / shares	5.90
Forfeited (in dollars per share) | $ / shares	3.23
Expired (in dollars per share) | $ / shares	22.39
Ending balance (in dollars per share) | $ / shares	3.97
Vested and exercisable (in dollars per share) | $ / shares	$ 2.80
Weighted Average Remaining Contractual Life (in years)
Outstanding balance (in years)	8 years 1 month 6 days
Vested and exercisable (in years)	7 years 2 months 12 days
Ending balance, aggregate intrinsic value | $	$ 12,580
Vested and exercisable, aggregate intrinsic value | $	$ 8,819