Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Accrued research and development	$ 7,016	$ 8,190
Accrued license fees	3,500
Accrued clinical trial	2,159	1,473
Accrued compensation	2,049	2,519
Accrued severance	1,754	1,463
Lease liabilities, current portion	1,638	1,521
Accrued professional and consulting fees	580	390
Warrant liability	252
Accrued property, plant and equipment		2,081
Other	684	650
Total accrued expenses and other current liabilities	$ 19,632	$ 18,287