Income Taxes - Summary of Significant Components of Deferred Tax Assets and Liabilities for Federal and State Income Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforward	$ 42,564	$ 41,548
Research tax credits	6,928	6,366
Intangible assets	168	186
Reserves and accruals	3,787	827
Stock-based compensation	1,953	1,026
Lease liability	6,600	7,075
Capitalized research and development expenses	13,250
Total deferred tax assets	75,250	57,028
Less valuation allowance	(68,192)	(49,385)
Net deferred tax assets	7,058	7,643
Deferred tax liabilities:
Right-of-use assets	(6,443)	(7,101)
Property and equipment	(472)	(366)
Prepaid assets	(143)	(176)
Total deferred tax assets	(7,058)	(7,643)
Net deferred tax assets	$ 0	$ 0