Accrued Expenses and Other Current Liabilities - Summary of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Accounts Payable and Accrued Liabilities, Current [Abstract]
Accrued research and development expenses	$ 6,130	$ 7,486
Due to Taiho under collaboration agreement, net	3,378	0
Accrued bonus	3,108	4,516
Convertible note and accrued interest	1,885	178
Other current liabilities	1,030	1,955
Total accrued expenses and other current liabilities	$ 15,531	$ 14,135