Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Number of Options Outstanding	4,254,504
Number of Options Outstanding, Granted	1,602,909
Number of Options Outstanding, Exercised	(81,067)
Number of Options Outstanding, Cancelled	(434,371)
Number of Options Outstanding	5,341,975	4,254,504
Number of Options Outstanding, Options exercisable	1,747,167
Weighted Average Exercise Price, Beginning Balance	$ 9.89
Weighted Average Exercise Price, Granted	6.86
Weighted Average Exercise Price, Exercised	6.37
Weighted Average Exercise Price, Cancelled	12.83
Weighted Average Exercise Price, Ending Balance	8.79	$ 9.89
Weighted Average Exercise Price,Options Exercisable	$ 8.88
Weighted Average Remaining Contract Term	8 years 7 months 6 days	9 years 4 months 24 days
Weighted Average Remaining Contract Term,Options Exercisable	8 years 3 months 18 days
Aggregate Intrinsic Value	$ 6,875	$ 1,868
Aggregate Intrinsic Value,Options Exercisable	$ 2,368