Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Balance Sheet Components [Line Items]
Total property and equipment	$ 866	$ 1,140
Less: Accumulated depreciation and amortization	617	951
Total property and equipment, net	249	189
Laboratory Equipment
Balance Sheet Components [Line Items]
Total property and equipment	779	1,058
Computer and Software
Balance Sheet Components [Line Items]
Total property and equipment	73	68
Leasehold Improvements
Balance Sheet Components [Line Items]
Total property and equipment	$ 14	$ 14