Accrued Liabilities - Schedule of Accrued Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Employee-related expenses	$ 1,576	$ 4,408
Professional fees	1,461	1,701
Clinical expenses	1,070	532
Research and development expenses	627	569
Manufacturing expenses	572	328
Other	179	351
Total accrued liabilities	$ 5,485	$ 7,889