Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2023	Dec. 31, 2022
Share-Based Payment Arrangement, Noncash Expense [Abstract]
Number of Shares Underlying Outstanding Options, Beginning balance	6,203,020
Number of Shares Underlying Outstanding Options, Options granted	2,117,400
Number of Shares Underlying Outstanding Options, Options exercised	(713)
Number of Shares Underlying Outstanding Options, Options forfeited or cancelled	(178,112)
Number of Shares Underlying Outstanding Options, Ending balance	8,141,595	6,203,020
Number of Shares Underlying Outstanding Options exercisable	2,671,676
Number of Shares Underlying Outstanding Options, Vested and expected to vest	8,141,595
Weighted-Average Exercise Price, Outstanding beginning	$ 14.44
Weighted-Average Exercise Price, Options granted	8.06
Weighted-Average Exercise Price, Options exercised	4.76
Weighted-Average Exercise Price, Options forfeited or cancelled	12.82
Weighted-Average Exercise Price, Outstanding ending	12.82	$ 14.44
Weighted-Average Exercise Price, Options exercisable	14.15
Weighted-Average Exercise Price, Vested and expected to vest	$ 12.82
Weighted-Average Remaining Contract Term, Outstanding	8 years 7 months 6 days	8 years 4 months 24 days
Weighted-Average Remaining Contract Term, Options exercisable	7 years 9 months 18 days
Weighted-Average Remaining Contract Term, Vested and expected to vest	8 years 7 months 6 days
Aggregate Intrinsic Value, Outstanding	$ 143	$ 780
Aggregate Intrinsic Value, Options exercisable	143
Aggregate Intrinsic Value, Vested and expected to vest	$ 143