Property and Equipment, Net - Schedule of Depreciation Expense Recognized (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Depreciation expense	$ 1,978	$ 1,471
Research and Development Expense
Property Plant And Equipment [Line Items]
Depreciation expense	1,837	1,325
General and Administrative Expense
Property Plant And Equipment [Line Items]
Depreciation expense	$ 141	$ 146