Stock-Based Compensation - Restricted Common Stock (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Stock-based compensation
Liability from the early exercise	$ 0		$ 0		$ 2
Stock-based compensation expense	744	$ 837	2,208	$ 1,464
Early exercise of employee options | Maximum
Stock-based compensation
Liability from the early exercise	0		0		$ 100
Unvested restricted stock
Stock-based compensation
Stock-based compensation expense	$ 0
Unvested restricted stock | Maximum
Stock-based compensation
Stock-based compensation expense		$ 100	$ 100	$ 100