The Company and Basis of Presentation - Additional Information (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) Segment	Dec. 31, 2021 USD ($)
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Number of operating segments | Segment	1
Working capital	$ 47,600
Accumulated deficit	(425,624)	$ (341,809)
Cash, cash equivalents, marketable securities, and restricted cash	$ 57,300