Balance Sheet Accounts and Supplemental Disclosures - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Balance Sheets Accounts And Supplemental Disclosures [Abstract]
Accrued compensation and benefits	$ 8,199	$ 13,534
Operating lease liabilities	3,140	2,983
Accrued consulting fees	821	1,104
Accrued interest	1,021	1,065
Accrued legal fees	228	380
Accrued accounting fees	93	521
Accrued other	758	945
Total accrued expenses and other current liabilities	$ 14,260	$ 20,532