Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss	$ (92,094)	$ (68,899)
Cumulative dividends on redeemable convertible preferred stock		(1,228)
Net loss attributable to common stockholders	$ (92,094)	$ (70,127)
Denominator, basic
Weighted-average number of common shares outstanding, basic	39,551,420	33,433,214
Net loss per share attributable to common stockholders, basic	$ (2.33)	$ (2.10)
Denominator, diluted
Weighted-average number of common shares outstanding, diluted	39,551,420	33,433,214
Net loss per share attributable to common stockholders, diluted	$ (2.33)	$ (2.10)