Supplemental Financial Information - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Balance Sheet Related Disclosures [Abstract]
Prepaid research and development	$ 4,840	$ 5,218
Prepaid clinical trial	2,119	3,298
Deferred offering costs	724	545
Prepaid insurance	388	148
Prepaid bonus	18	427
Other	448	863
Total prepaid expenses and other current assets	$ 8,537	$ 10,499