Balance Sheet Details - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Prepaid Expense And Other Assets Current [Abstract]
Prepaid clinical trial expenses	$ 4,675	$ 4,015
Prepaid contract manufacturing expenses	897	2,898
Prepaid research and development expenses	2,932	2,251
Other prepaid expenses	4,230	2,206
Total	$ 12,734	$ 11,370