Income Taxes - Summary of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Net operating loss carryforwards	$ 42,003	$ 30,093
Net research and development expenditures	14,468	10,656
Share issuance costs	2,369	3,538
Net federal investment tax credits	6,589	4,805
U.S. research and development tax credits	0	1,775
Tax basis of property and equipment in excess of carrying values	(376)	0
Operating lease right-of-use assets	(1,429)	(1,995)
Operating lease liability	1,445	1,950
Accrued expense and other liabilities	785	760
Deferred revenue	14,783	13,656
Share-based compensation	2,492	988
R&D costs capitalized	13,911	0
Total deferred tax assets	97,040	66,226
Valuation allowance	(97,040)	(62,606)
Net deferred tax assets	$ 0	$ 3,620