Prepaid Expenses and Other Current Assets - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Prepaid Expense and Other Assets, Current [Abstract]
Prepaid insurance	$ 697	$ 1,251
Prepaid software subscription and licensing fees	521	529
Interest receivable	639	435
Prepayments to CROs	282	492
Prepaid maintenance	389	295
Prepaid rent	179	0
Other prepaid expenses and current assets	489	380
Total prepaid expenses and other current assets	$ 3,196	$ 3,382