Stock-Based Compensation - Summary of Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Number of Units Outstanding, Beginning Balance	8,590,411
Number of Units, Granted	4,367,446
Number of Units, Exercised	(65,862)
Number of Units, Forfeited	(3,030,143)
Number of Units, Expired	(1,459,226)
Number of Units Outstanding, Ending Balance	8,402,626	8,590,411
Number of Units Outstanding, Options vested and expected to vest	8,402,626
Number of Units Outstanding, Options vested and exercisable	2,831,700
Number of Units Outstanding, Weighted Average Strike Price per Unit, Beginning Balance	$ 5.48
Number of Units, Granted, Weighted Average Strike Price per Unit	1.08
Number of Units, Exercised, Weighted Average Strike Price per Unit	1.50
Number of Units, Forfeited, Weighted Average Exercise Price per Unit	4.86
Number of Units, Expired, Weighted Average Exercise Price per Unit	5.03
Number of Units Outstanding, Weighted Average Strike Price per Unit, Ending Balance	3.52	$ 5.48
Number of Units, Options vested and expected to vest, Weighted Average Exercise Price per Unit	3.52
Number of Units, Options vested and exercisable, Weighted Average Exercise Price per Unit	$ 4.97
Number of Units Outstanding, Weighted Average Remaining Contractual Term (in years)	8 years 7 months 6 days	8 years 9 months 18 days
Number of Units, Options vested and expected to vest, Weighted Average Remaining Contractual Term (in years)	8 years 7 months 6 days
Number of Units, Options vested and exercisable, Weighted Average Remaining Contractual Term (in years)	8 years
Number of Units Outstanding, Aggregate Intrinsic Value	$ 0	$ 6,196