Income Taxes - Schedule of Tax Effects of Temporary Differences to Significant Components of Deferred Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred Tax Assets
Net operating loss carryforwards	$ 47,050	$ 37,295
Other accrued liabilities	1,921	937
Deferred revenue	539	993
Research tax credits	10,546	8,078
Stock-based compensation expense	4,825	2,618
Intangible asset basis	1,092	907
Operating lease liabilities	4,437	3,460
Capitalized research expenditures	16,172	0
Total deferred tax assets	86,582	54,288
Deferred Tax Liabilities, Net [Abstract]
Operating lease right-of-use assets	(3,600)	(3,064)
Prepaid expenses	(1,556)	(992)
Total deferred tax liabilities	(5,156)	(4,056)
Less: valuation allowance	(81,426)	(50,232)
Total net deferred tax	$ 0	$ 0