Accrued Liabilities - Schedule of Accrued Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Employee-related expenses	$ 3,123	$ 4,408
Professional fees	1,318	1,701
Clinical expenses	1,241	532
Research and development expenses	473	569
Manufacturing expenses	955	328
Other	146	351
Total accrued liabilities	$ 7,256	$ 7,889