Stock-Based Compensation - Summary of Employee and Non-Employee Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Shares Issuable Under Options, Outstanding, Beginning balance	6,607,587
Shares Issuable Under Options, Granted	5,879,991
Shares Issuable Under Options, Exercised	0
Shares Issuable Under Options, Forfeited	(2,360,531)
Shares Issuable Under Options, Outstanding, Ending balance	10,127,047	6,607,587
Shares Issuable Under Options, Options vested and expected to vest	9,944,309
Shares Issuable Under Options, Options exercisable	4,086,256
Weighted Average Exercise Price, Outstanding Beginning balance	$ 7.56
Weighted Average Exercise Price, Granted	1.80
Weighted Average Exercise Price, Exercised	0
Weighted Average Exercise Price, Forfeited	6.14
Weighted Average Exercise Price, Outstanding Ending balance	4.55	$ 7.56
Weighted Average Exercise Price, Options vested and expected to vest	4.50
Weighted Average Exercise Price, Options exercisable	$ 6.84
Weighted Average Remaining Contractual Term, Outstanding	6 years 8 months 19 days	7 years 10 months 24 days
Weighted Average Remaining Contractual Term, Options vested and expected to vest	6 years 9 months 10 days
Weighted Average Remaining Contractual Term, Options exercisable	4 years 11 months 4 days
Aggregate Intrinsic Value, Outstanding	$ 2	$ 328
Aggregate Intrinsic Value, Options vested and expected to vest	2
Aggregate Intrinsic Value, Options exercisable	$ 0