Stockholders' Equity - 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]
Options Outstanding, Beginning Balance	4,186,729
Options Outstanding, Options granted	1,741,931
Options Outstanding, Options cancelled	(342,190)
Options Outstanding, Ending Balance	5,586,470	4,186,729
Options Outstanding, Options exercisable as of December 31, 2022	2,455,735
Weighted-Average Exercise Price, Beginning Balance	$ 27.53
Weighted-Average Exercise Price, Options granted	14.62
Weighted-Average Exercise Price, Options cancelled	29.32
Weighted-Average Exercise Price, Ending Balance	23.40	$ 27.53
Weighted-Average Exercise Price, Options exercisable as of December 31, 2022	$ 25.00
Weighted-Average Remaining Contractual Term	7 years 10 months 24 days	7 years 10 months 28 days
Weighted-Average Remaining Contractual Term, Options exercisable as of December 31, 2022	7 years 2 months 4 days
Aggregate Intrinsic Value, Balance	$ 4,476	$ 13,973
Aggregate Intrinsic Value, Options exercisable as of December 31, 2022	$ 2,867