Stock-Based Compensation - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Share-Based Payment Arrangement, Noncash Expense [Abstract]
Number of Shares Underlying Outstanding Options, Beginning balance | shares	6,203,020
Number of Shares Underlying Outstanding Options, Options granted | shares	2,561,200
Number of Shares Underlying Outstanding Options, Options exercised | shares	(946)
Number of Shares Underlying Outstanding Options, Options forfeited or cancelled | shares	(424,242)
Number of Shares Underlying Outstanding Options, Ending balance | shares	8,339,032	6,203,020
Number of Shares Underlying Outstanding Options exercisable | shares	3,181,499
Number of Shares Underlying Outstanding Options, Vested and expected to vest | shares	8,339,032
Weighted-Average Exercise Price, Outstanding beginning | $ / shares	$ 14.44
Weighted-Average Exercise Price, Options granted | $ / shares	7.53
Weighted-Average Exercise Price, Options exercised | $ / shares	4.76
Weighted-Average Exercise Price, Options forfeited or cancelled | $ / shares	12.68
Weighted-Average Exercise Price, Outstanding ending | $ / shares	12.41	$ 14.44
Weighted-Average Exercise Price, Options exercisable | $ / shares	13.92
Weighted-Average Exercise Price, Vested and expected to vest | $ / shares	$ 12.41
Weighted-Average Remaining Contract Term, Outstanding	8 years 4 months 24 days	8 years 4 months 24 days
Weighted-Average Remaining Contract Term, Options exercisable	7 years 8 months 12 days
Weighted-Average Remaining Contract Term, Vested and expected to vest	8 years 4 months 24 days
Aggregate Intrinsic Value, Outstanding | $	$ 20	$ 780
Aggregate Intrinsic Value, Options exercisable | $	20
Aggregate Intrinsic Value, Vested and expected to vest | $	$ 20