Convertible Preferred Stock and Stockholders' Equity (Deficit) - Summary of the Status of the Options Issued Under the Plan (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Stockholders' Equity Note [Abstract]
Balance at December 31, 2021 | shares	6,591,727
Granted | shares	3,112,560
Exercised | shares	(395,050)
Forfeited | shares	377,233
Expired | shares	(547,014)
Balance at December 31, 2022 | shares	8,384,990
Expected to vest at Dec 31,2022 | shares	8,384,990
Options Outstanding, Vested and exercisable at Dec 31, 2022 | shares	2,219,625
Weighted average exercise price per share, Balance at December 31, 2021 | $ / shares	$ 8.04
Granted | $ / shares	9.66
Exercised | $ / shares	1.48
Forfeited | $ / shares	10.91
Expired | $ / shares	5.32
Weighted average exercise price per share, Balance at December 31, 2022 | $ / shares	9.00
Vested and expected to vest as of December 31, 2022 | $ / shares	9.00
Weighted average exercise price per share, Vested and exercisable at Dec 31, 2022 | $ / shares	$ 8.06
Weighted average remaining contractual term (Years)	8 years 8 months 19 days
Vested and expected to vest as of December 31, 2022	8 years 8 months 19 days
Vested and exercisable at December 31, 2022	8 years 3 months 21 days
Aggregate intrinsic value, Balance at December 31, 2022 | $	$ 20,499
Vested and expected to vest as of December 31, 2022 | $	20,499
Vested and exercisable at December 31, 2022 | $	$ 5,636