Balance Sheet Components - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Prepaid expenses	$ 2,502	$ 1,970
Prepaid insurance	1,442	1,355
Receivable from contract manufacturer	2,526	1,344
Other current assets	2,073	897
Total prepaid and other current assets	$ 8,543	$ 5,566