Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued compensation and benefits	$ 5,616	$ 4,867
Accrued research and development expense	15,078	11,272
Accrued professional services	680	387
Accrued property and equipment purchases	0	1,719
Other	271	377
Total accrued expenses and other current liabilities	$ 21,645	$ 18,622