Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) (Parenthetical) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Statement of Stockholders' Equity [Abstract]
Issuance of Series A convertible preferred stock and settlement of tranche right liability			$ 7,000
Issuance costs of series A convertible preferred stock			22
Issuance costs of series A2 convertible preferred stock			$ 112
Issuance costs of series B convertible preferred stock		$ 241
Issuance costs of common stock from initial public offering	$ 15,924	$ 25,098
Issuance of common stock from At-the-Market offering	$ 1,722,000