Stockholders' Equity - Schedule of Changes in Convertible Preferred Stock and Stockholders' Equity (Deficit) (Details) - USD ($) $ 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
Beginning Balance, Value	$ 72,133	$ 61,470	$ 93,865	$ 103,323	$ 61,470	$ 103,323
Issuance of common stock in follow-on public offering		21,188
Financing related fees	(46)	(37)
Stock-based compensation	841	697	699	571
Exercise of stock options, shares					10,014
Exercise of stock options, value	48
Unrealized gain on short-term investments, net	131	271	(188)	(432)	$ 402	(620)
Net loss	(14,999)	(11,456)	(11,407)	(9,597)	(26,455)	(21,004)
Ending Balance, Value	$ 58,108	$ 72,133	$ 82,969	$ 93,865	$ 58,108	$ 82,969
Non-Voting Common Stock [Member]
Beginning Balance , Shares	2,420,755	3,629,400	3,629,400	3,629,400	3,629,400	3,629,400
Conversion of non-voting common stock to voting common stock (in shares)		(1,208,645)
Ending Balance, Shares	2,420,755	2,420,755	3,629,400	3,629,400	2,420,755	3,629,400
Voting Common Stock [Member]
Beginning Balance, Value	$ 2	$ 1	$ 1	$ 1	$ 1	$ 1
Beginning Balance , Shares	20,544,595	13,585,950	13,484,315	13,440,761	13,585,950	13,440,761
Vesting of restricted stock			43,554	43,554
Conversion of non-voting common stock to voting common stock (in shares)		1,208,645
Issuance of common stock in follow-on public offering		$ 1
Issuance of common stock in follow-on public offering (in shares)		5,750,000
Exercise of stock options, shares	10,014
Ending Balance, Value	$ 2	$ 2	$ 1	$ 1	$ 2	$ 1
Ending Balance, Shares		20,544,595	13,527,869	13,484,315		13,527,869
Additional Paid-in Capital [Member]
Beginning Balance, Value	170,150	$ 148,303	$ 146,254	$ 145,683	148,303	$ 145,683
Issuance of common stock in follow-on public offering		21,187
Financing related fees	(46)	(37)
Stock-based compensation	841	697	699	571
Exercise of stock options, value	48
Ending Balance, Value	170,993	170,150	146,953	146,254	170,993	146,953
Accumulated Deficit [Member]
Beginning Balance, Value	(97,598)	(86,142)	(51,794)	(42,197)	(86,142)	(42,197)
Net loss	(14,999)	(11,456)	(11,407)	(9,597)
Ending Balance, Value	(112,597)	(97,598)	(63,201)	(51,794)	(112,597)	(63,201)
Accumulated Other Comprehensive Loss [Member]
Beginning Balance, Value	(421)	(692)	(596)	(164)	(692)	(164)
Unrealized gain on short-term investments, net	131	271	188	(432)
Ending Balance, Value	$ (290)	$ (421)	$ (784)	$ (596)	$ (290)	$ (784)