Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 66,067	$ 60,495
Research and development credits	15,234	11,240
Research and development capitalization	19,900
Stock-based compensation	8,725	2,448
Accrued expense	1,190	1,290
Lease liabilities	511	485
Gross deferred tax assets	111,627	75,958
Less: valuation allowance	(111,053)	(75,371)
Total deferred tax asset	574	587
Deferred tax liability
Right-of-use assets	(500)	(476)
Depreciation	(74)	(111)
Total deferred tax liabilities	(574)	(587)
Net deferred tax assets	$ 0	$ 0