Net Loss per Share - Summary of Basic and Diluted Net Loss Per Common Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022
Numerator:
Net loss	$ (20,174)	$ (19,795)	$ (17,015)	$ (15,334)	$ (39,969)	$ (32,349)
Denominator:
Weighted-average common shares outstanding, basic	38,657,205		28,150,051		38,601,916	27,409,264
Weighted-average common shares outstanding, diluted	38,657,205		28,150,051		38,601,916	27,409,264
Net loss per share attributable to common stockholders, basic	$ (0.52)		$ (0.6)		$ (1.04)	$ (1.18)
Net loss per share attributable to common stockholders, diluted	$ (0.52)		$ (0.6)		$ (1.04)	$ (1.18)