Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Number of Options Outstanding, Beginning Balance	6,155,055
Number of Options, Granted	3,051,906
Number of Options, Forfeited	(1,284,164)
Number of Options Outstanding, Ending Balance	7,922,797	6,155,055
Options vested and exercisable at December 31, 2022	2,945,832
Weighted Average Exercise Price, Options outstanding at January 1, 2022	$ 23.42
Weighted Average Exercise Price, Granted	7.48
Weighted Average Exercise Price, Forfeited	20.13
Weighted Average Exercise Price, Options outstanding at December 31, 2022	17.81	$ 23.42
Weighted Average Exercise Price, Options vested and exercisable at December 31, 2022	$ 22.10
Weighted Average Contractual Life, Options outstanding	8 years 3 months 18 days	8 years 9 months 18 days
Weighted Average Contractual Life, Options vested and exercisable at December 31, 2022	7 years 9 months 18 days
Aggregate Intrinsic Value, Options outstanding at January 1, 2022	$ 480
Aggregate Intrinsic Value, Options outstanding at December 31, 2022	786	$ 480
Aggregate Intrinsic Value, Options vested and exercisable at December 31, 2022	$ 88