Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued clinical trial expense	$ 2,659	$ 1,861
Accrued professional fees	880	1,653
Accrued R&D software	7,333
Accrued wages, bonuses, commissions and vacation	2,576	3,824
Accruals for construction in progress	322
Deferred rent		2
Other	2,632	4,321
Total accrued expenses	$ 16,402	$ 11,661