Prepaid Expenses and Other Current Assets - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Prepaid clinical expenses	$ 5,836	$ 3,269
Prepaid insurance expense	377	1,399
Other	1,049	2,410
Prepaid expenses and other current assets	$ 7,262	$ 7,078