Capital Structure - Schedule of Reserved Common Stock Converted Basis for Future Issuance (Details) - shares	Jun. 30, 2023	Dec. 31, 2022
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	8,957,232	7,483,830
Stock Options, Issued and Outstanding
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	7,032,466	5,341,975
Stock Options, Authorized for Future Issuance
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	1,173,757	1,446,872
Employee Stock Purchase Plan, Available for Future Issuance
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	548,932	402,747
Restricted Stock, Issued and Outstanding
Conversion of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	202,077	292,236