Balance Sheet Components - Property and equipment, net (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Property and equipment, gross - Total	$ 4,471	$ 3,069
Less accumulated depreciation and amortization	(2,849)	(2,331)
Total	1,622	738
Total property and equipment, net	6,038	4,612
Laboratory equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross - Total	2,661	1,734
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross - Total	1,549	1,233
Software
Property, Plant and Equipment [Line Items]
Property and equipment, gross - Total	104	60
Office equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross - Total	157	42
Construction-in progress
Property, Plant and Equipment [Line Items]
Construction-in progress	$ 4,416	$ 3,874