Prepaid Expenses and Other Current Assets - Summary 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 insurance	$ 974	$ 1,251
Prepaid software subscription and licensing fees	297	529
Interest receivable	567	435
Prepayments to CROs	273	427
Prepaid maintenance	445	295
Prepayments to CMOs	101	65
Other prepaid expenses and current assets	511	380
Total prepaid expenses and other current assets	$ 3,168	$ 3,382