Net Loss Per Share - Summary of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Earnings Per Share [Abstract]
Net loss	$ (22,563)	$ (16,156)
Weighted-average common shares outstanding, basic	24,225,954	23,974,642
Weighted-average common shares outstanding, diluted	24,225,954	23,974,642
Net loss per share, basic	$ (0.93)	$ (0.67)
Net loss per share, diluted	$ (0.93)	$ (0.67)