Balance Sheet Details - Schedule of Accounts Payable and Accrued Expenses (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Accounts Payable and Accrued Liabilities, Current [Abstract]
Accounts payable	$ 5,895	$ 6,883
Accrued clinical costs	2,918	1,921
Accrued research and development costs	3,580	4,043
Accrued outside services and professional fees	2,926	1,810
Other accrued expenses	977	694
Total	$ 16,296	$ 15,351