Stock-Based Compensation - Schedule of Assumptions to Estimate Fair Value of Stock Options Using Black-Scholes Option Pricing Model (Details) - $ / shares	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, minimum	84.60%	77.40%	83.30%	77.40%
Expected volatility, maximum	86.50%	79.80%	86.50%	79.80%
Risk free rates, minimum	3.50%	2.80%	3.50%	1.60%
Risk free rates, maximum	4.10%	3.00%	4.20%	3.00%
Dividend rate	0.00%	0.00%	0.00%	0.00%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value of common stock	$ 2.43	$ 11.49	$ 2.43	$ 11.49
Expected term	5 years 6 months	5 years 6 months	5 years 6 months	5 years 6 months
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value of common stock	$ 5.84	$ 14.74	$ 9.15	$ 19.97
Expected term	6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days