Property and Equipment - Schedule of Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Total property and equipment	$ 10,788	$ 10,425
Less accumulated depreciation and amortization	(8,249)	(7,684)
Property and equipment, net	2,539	2,741
Laboratory Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	6,558	6,291
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	3,295	3,295
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	578	482
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Total property and equipment	$ 357	$ 357