Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Options Outstanding, Beginning balance	5,623,116
Options Outstanding, Granted	3,291,330
Options Outstanding, Exercised	(56,897)
Options Outstanding, Canceled/forfeited	(1,631,914)
Options Outstanding, Ending balance	7,225,635	5,623,116
Options Outstanding, Exercisable at December 31, 2022	3,340,108
Options Outstanding, Vested or expected to vest at December 31, 2022	7,225,635
Weighted-average Exercise Price, Beginning balance	$ 7.72
Weighted-average Exercise Price, Granted	2.54
Weighted-average Exercise Price, Exercised	2.37
Weighted-average Exercise Price, Canceled/forfeited	7.07
Weighted-average Exercise Price, Ending balance	5.55	$ 7.72
Weighted-average Exercise Price, Exercisable at December 31, 2022	5.68
Weighted-average Exercise Price, Vested or expected to vest at December 31, 2022	$ 5.55
Weighted-average Remaining Contractual Term (in years), Outstanding	8 years	8 years 3 months 18 days
Weighted-average Remaining Contractual Term (in years), Exercisable at December 31, 2022	7 years 2 months 12 days
Weighted-average Remaining Contractual Term (in years), Vested or expected to vest at December 31, 2022	8 years
Weighted-average Grant Date Fair Value, Granted	$ 1.86
Aggregate Intrinsic Value, Outstanding		$ 6,075