Net Loss per Share - Summary of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss	$ (29,047)	$ (106,908)
Denominator:
Weighted-average number of common shares outstanding-basic	41,922,042	37,818,115
Weighted-average number of common shares outstanding-diluted	41,922,042	37,818,115
Net loss per share basic	$ (0.69)	$ (2.83)
Net loss per share diluted	$ (0.69)	$ (2.83)