Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	6 Months Ended	12 Months Ended
	Jun. 30, 2023	Jun. 30, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercised	(37,268)
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Beginning balance		3,644,500
Shares, Granted		1,561,840
Exercised		(37,268)
Forfeited or cancelled		(158,323)
Ending balance	5,010,749	5,010,749	3,644,500
Options vested and exercisable as of June 30, 2023	984,275	984,275
Options unvested as of June 30, 2023	4,026,474	4,026,474
Beginning balance		$ 10.45
Granted		4.27
Exercised		1.57
Forfeited or cancelled		3.51
Ending balance	$ 4.09	4.09	$ 10.45
Options vested and exercisable as of June 30, 2023	3.85	3.85
Options unvested as of June 30, 2023	$ 4.15	$ 4.15
Weighted-Average Remaining Contractual Term (in years)		9 years 1 month 24 days	9 years 6 months 3 days
Options vested and exercisable as of June 30, 2023		8 years 9 months 29 days
Options unvested as of June 30, 2023		9 years 2 months 19 days
Aggregate Intrinsic Value	$ 3,758	$ 3,758	$ 1,283
Options vested and exercisable as of June 30, 2023		1,005
Options unvested as of June 30, 2023	$ 2,753	$ 2,753