Stockholders' Equity - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023	Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]
Options Outstanding, Beginning Balance	5,586,470
Options Outstanding, Options granted	1,148,660
Options Outstanding, Options exercised	(15,000)
Options Outstanding, Options cancelled	(33,006)
Options Outstanding, Ending Balance	6,687,124	5,586,470
Options Outstanding, Options exercisable as of March 31, 2022	3,441,791
Weighted-Average Exercise Price, Beginning Balance	$ 23.4
Weighted-Average Exercise Price, Options granted	8.68
Weighted-Average Exercise Price, Options exercised	7.4
Weighted-Average Exercise Price, Options cancelled	34.28
Weighted-Average Exercise Price, Ending Balance	20.85	$ 23.4
Weighted-Average Exercise Price, Options exercisable as of March 31, 2022	$ 23.53
Weighted-Average Remaining Contractual Term	7 years 9 months 14 days	7 years 10 months 24 days
Weighted-Average Remaining Contractual Term, Options exercisable as of March 31, 2022	7 years 21 days
Aggregate Intrinsic Value, Balance	$ 14,936	$ 4,476
Aggregate Intrinsic Value, Options exercisable as of March 31, 2022	$ 6,680