Stock-Based Compensation - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Options [Roll Forward]
Number of Shares, Options outstanding, beginning balance | shares	2,395,748
Number of Shares, Options granted | shares	1,665,505
Number of Shares, Options exercised | shares	(10,014)
Number of Shares, Options cancelled | shares	(43,853)
Number of Shares, Options outstanding, ending balance | shares	4,007,386	2,395,748
Number of Shares, Options Vested and Expected to Vest | shares	4,007,386
Number of Shares, Options exercisable | shares	1,472,165
Weighted Average Exercise Price [Roll Forward]
Weighted Average Exercise Price Per share, Options outstanding, beginning balance | $ / shares	$ 5.50
Weighted Average Exercise Price Per share, Options granted | $ / shares	4.63
Weighted Average Exercise Price Per share, Options exercised | $ / shares	3.86
Weighted Average Exercise Price Per share, Options cancelled | $ / shares	6.16
Weighted Average Exercise Price Per share, Options outstanding, ending balance | $ / shares	5.14	$ 5.50
Weighted Average Exercise Price Per share, Options vested | $ / shares	5.14
Weighted Average Exercise Price Per share, Options exercisable | $ / shares	$ 5.30
Weighted Average Remaining Contractual Term (in Years) [Roll Forward]
Weighted Average Remaining Contractual Term, Options outstanding	8 years 7 months 6 days	8 years 3 months 18 days
Weighted Average Remaining Contractual Term, Options vested and expected to vest	8 years 7 months 6 days
Weighted Average Remaining Contractual Term, Options exercisable	7 years 6 months
Options outstanding, Intrinsic value | $	$ 10,531	$ 48
Aggregate Intrinsic Value, Vested and expected to vest | $	10,531
Options exercisable, Intrinsic value | $	$ 4,089