Formation and Business of the Company - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Net loss	$ 17,436	$ 19,128	$ 17,310	$ 18,433	$ 36,564	$ 35,743
Cash used in operating activities					27,913	$ 31,677
Accumulated deficit	277,607				277,607		$ 241,043
Cash, cash equivalents, and marketable securities	$ 218,844				$ 218,844