Balance Sheet Components - Summary of Accrued Expense and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Accrued Liabilities, Current [Abstract]
Accrued research and development materials and services	$ 3,809	$ 6,039
Accrued professional services	407	208
Accrued personnel expenses	2,871	4,774
Other	399	636
Total accrued expenses and other current liabilities	$ 7,486	$ 11,657