Debt - Components of Debt (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Debt Disclosure [Abstract]
Term loan payable	$ 30,000
End of term charge	1,426
Future principal payments and end of term charge	31,426
Unamortized debt issuance costs	(3,302)
Carrying value of long-term debt	$ 28,124	$ 0