Stock-Based Compensation - Summary of Stock Option Activity and Related Information (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 $ / shares shares
Equity [Abstract]
Number of Options, Beginning Balance | shares	12,190,970
Number of Options, Granted | shares	2,047,600
Number of Options, Cancelled | shares	(1,654,845)
Number of Options, Exercised | shares	(28,778)
Number of Options, Ending Balance | shares	12,554,947	12,190,970
Number of Options, Exercisable | shares	7,212,954
Number of Options, Options Vested and Expected to Vest | shares	12,554,947
Weighted Average Exercise Price Per Share, Beginning Balance | $ / shares	$ 3.98
Weighted Average Exercise Price Per Share, Granted | $ / shares	1.53
Weighted Average Exercise Price Per Share, Cancelled | $ / shares	3.64
Weighted Average Exercise Price Per Share, Exercised | $ / shares	0.03
Weighted Average Exercise Price Per Share, Ending Balance | $ / shares	3.61	$ 3.98
Weighted Average Exercise Price Per Share, Exercisable | $ / shares	3.66
Weighted Average Exercise Price Per Share, Options Vested and Expected to Vest | $ / shares	$ 3.61
Weighted Average Remaining Contractual Term (in Years), Balance	7 years 1 month 20 days	7 years 4 months 9 days
Weighted Average Remaining Contractual Term (in Years), Exercisable	5 years 7 months 17 days
Weighted Average Remaining Contractual Term (in Years), Options vested and expected to vest	7 years 1 month 20 days
Aggregate Intrinsic Value, Balance | $	$ 352
Aggregate Intrinsic Value, Exercisable | $	350
Aggregate Intrinsic Value, Options vested and expected to vest | $	$ 352