Stock-based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2023	Dec. 31, 2022
Number of Shares Underlying Outstanding Options
Number of shares underlying outstanding options, beginning balance (in shares)	2,101,536
Number of shares underlying outstanding options, options exercised (in shares)	(10,007)
Number of shares underlying outstanding options, options cancelled (in shares)	(5,864)
Number of shares underlying outstanding options, ending balance (in shares)	2,085,665	2,101,536
Number of shares underlying outstanding options, vested and expected to vest (in shares)	2,085,665
Number of shares underlying outstanding options, exercisable (in shares)	1,353,373
Weighted- Average Exercise Price per Share
Weighted average exercise price, beginning balance (in dollars per share)	$ 10.12
Weighted average exercise price, options exercised (in dollars per share)	1.88
Weighted average exercise price, options cancelled (in dollars per share)	40.57
Weighted average exercise price, ending balance (in dollars per share)	10.07	$ 10.12
Weighted average exercise price, options vested and expected to vest (in dollars per share)	10.07
Weighted average exercise price, options exercisable (in dollars per share)	$ 9.09
Weighted- Average Remaining Contractual Term (in years)
Stock options outstanding, weighted average remaining contractual term	7 years 5 months 4 days	7 years 8 months 8 days
Stock options vested and expected to vest, weighted average remaining contractual term	7 years 5 months 4 days
Stock options exercisable, weighted average remaining contractual term	7 years 5 months 1 day
Aggregate Intrinsic Value
Stock options outstanding, aggregate intrinsic value, beginning balance	$ 8,285
Stock options outstanding, aggregate intrinsic value, ending balance	7,880	$ 8,285
Stock options vested and expected to vest, aggregate intrinsic value	7,880
Stock options exercisable, aggregate intrinsic value	$ 5,385