Balance Sheet Components - Summary of Accrued Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Accrued Liabilities, Current [Abstract]
Accrued research and development-related expenses	$ 2,517	$ 495
Accrued research and development-related expenses-related party		500
Accrued professional services expenses	198	50
Accrued offering costs		313
Other	122	41
Total accrued liabilities	$ 2,837	$ 1,399