Borrowings - Summary of Borrowings (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Debt Disclosure [Abstract]
Principal outstanding and final fee	$ 35,700	$ 35,700
Less: Unamortized debt issuance costs	(73)	(100)
Unaccreted value of final fee	(456)	(627)
Outstanding debt, net of debt issuance costs and unaccreted value of final fee	35,171	34,973
Long-term borrowings	$ 35,171	$ 34,973