Income Taxes - Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 49,669	$ 41,856
Research and development credit carryforward	7,967	4,545
Stock-based compensation	1,048	1,040
Property and equipment	234	178
Operating lease liabilities	4,435	0
Section 174 R&D capitalization	9,053	0
Other accruals	630	734
Gross deferred tax assets	73,036	48,353
Valuation allowance	(68,868)	(48,353)
Deferred tax assets net of valuation allowance	4,168	0
Deferred tax liabilities:
Right-of-use assets	(4,168)	0
Gross deferred tax liabilities	(4,168)	0
Total deferred tax assets (liabilities)—net	$ 0	$ 0