Stock-based Compensation - Summary of Stock Option Award Activities (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Options outstanding, beginning balance	2,306,379
Options granted	1,845,682
Options exercised	(57,229)
Options forfeited	(91,538)
Options outstanding, ending balance	4,003,294	2,306,379
Options exercisable	1,115,004
Options vested or expected to vest	2,888,290
Options outstanding, weighted average exercise price, beginning balance	$ 6.51
Options granted, weighted average exercise price	2.85
Options exercised, weighted average exercise price	1.07
Options forfeited, weighted average exercise price	6.47
Options outstanding, weighted average exercise price, ending balance	4.90	$ 6.51
Options exercisable, weighted average exercise price	6.16
Options vested or expected to vest, weighted average exercise price	$ 4.41
Options outstanding, weighted average remaining contractual term	8 years 3 months 10 days	8 years 11 months 26 days
Options exercisable, weighted average remaining contractual term	7 years 10 months 20 days
Options vested or expected to vest, weighted average remaining contractual term	8 years 11 months 15 days
Options outstanding, aggregate intrinsic value	$ 860	$ 983
Options exercisable, aggregate intrinsic value	195
Options vested or expected to vest, aggregate intrinsic value	$ 664