Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued CMO costs	$ 6,359	$ 4,390
Accrued compensation	4,007	5,703
Accrued CRO costs	1,082	657
Accrued professional services	802	1,356
Accrued other research and development expenses	402	674
Accrued other liabilities	27	31
Total accrued and other liabilities	$ 12,679	$ 12,811