Balance Sheet Components - Components of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Balance Sheet Related Disclosures [Abstract]
Accrued clinical and nonclinical study costs	$ 5,485	$ 4,119
Accrued contract manufacturing	5,249	693
Accrued compensation and related expenses	3,708	3,294
Accrued property and equipment	2,110	27
Accrued professional fees	835	790
Operating lease liabilities, current	$ 755	$ 313
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Total accrued expenses and other current liabilities	Total accrued expenses and other current liabilities
Finance lease liabilities, current	$ 286	$ 429
Finance Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Total accrued expenses and other current liabilities	Total accrued expenses and other current liabilities
Other	$ 174	$ 236
Total accrued expenses and other current liabilities	$ 18,602	$ 9,901