Prepaid Expenses and Other Current Assets - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Prepaid Expense and Other Assets, Current [Abstract]
Contract research and development costs	$ 1,938	$ 1,450
Research and development tax credit receivable	804	792
Prepaid insurance costs	560	805
Value-added tax refund receivable	418	587
Other	161	52
Total prepaid expenses and other current assets	$ 3,881	$ 3,686