Balance Sheet Details - Schedule of Accounts Payable and Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Accounts Payable and Accrued Liabilities, Current [Abstract]
Accounts payable	$ 6,883	$ 3,422
Accrued clinical costs	1,921	1,095
Accrued research and development costs	4,043	3,091
Accrued outside services and professional fees	1,810	537
Other accrued expenses	694	323
Total	$ 15,351	$ 8,468