Net Loss Per Share Attributable to Common Stockholders - Reconciliation of Numerator and Denominator Used in Calculation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Numerator
Net loss	$ (123,321)	$ (97,263)
Net loss attributable to common stockholders	(123,321)	(97,263)
Net loss attributable to common stockholders	$ (123,321)	$ (97,263)
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders:
Basic (in shares)	42,015,908	35,846,421
Diluted (in shares)	42,015,908	35,846,421
Net loss per share, attributable to common stockholders:
Basic (USD per share)	$ (2.94)	$ (2.71)
Diluted (USD per share)	$ (2.94)	$ (2.71)