Stock-Based Compensation - Summary of the Company's Stock Option Plan Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Balance, Shares	9,899,707
Granted, Shares	4,101,635
Exercised, Shares	(111,911)
Cancelled, Shares	(2,027,550)
Balance, Shares	11,861,881	9,899,707
Options Vested & Expected to Vest as of December 31, 2022, Shares	11,861,881
Options Exercisable as of December 31, 2022, Shares	5,006,884
Balance, Weighted Average Exercise Price	$ 9.57
Options Granted, Weighted Average Exercise Price	3.68
Exercised, Weighted Average Exercise Price	1.72
Cancelled, Weighted Average Exercise Price	9.52
Balance, Weighted Average Exercise Price	7.61	$ 9.57
Options Vested & Expected to Vest as of December 31, 2022, Weighted Average Exercise Price	7.61
Options Exercisable as of December 31, 2022, Weighted Average Exercise Price	$ 8.88
Balance, Weighted Average Remaining Contractual Term (Years)	8 years 2 months 15 days	8 years 6 months 25 days
Options Vested & Expected to Vest as of December 31, 2022, Weighted Average Remaining Contractual Term (Years)	8 years 2 months 15 days
Options Exercisable as of December 31, 2022, Weighted Average Remaining Contractual Term (Years)	7 years 6 months 25 days
Balance, Intrinsic Value	$ 7,730
Options Vested & Expected to Vest as of December 31, 2022, Intrinsic Value	7,730
Options Exercisable as of December 31, 2022, Intrinsic Value	$ 2,400