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	$ 33,187	$ 22,385
Accrued expenses and reserves	1,540	1,129
Research and development credits	4,092	2,073
Stock-based compensation	7,790	4,198
Lease liabilities	7,663	6,182
Capitalized research and development	7,819	0
Other	43	56
Gross deferred tax assets	62,134	36,023
Less valuation allowance	(54,991)	(30,194)
Net deferred tax assets	7,143	5,829
Deferred tax liabilities:
Fixed assets and intangibles	(216)	(490)
Right-of-use assets	(6,927)	(5,339)
Gross deferred tax liabilities	(7,143)	(5,829)
Total net deferred tax assets (liabilities)	$ 0	$ 0