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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Effective Income Tax Rate Reconciliation, Amount [Abstract]      
Computed tax at federal statutory rate applied to pre-tax loss $ (12,403) $ (9,797) $ (10,785)
State income tax, net of federal tax benefit (2,437) (3,927) (1,708)
Unrealized loss (gain) on tranche liability 0 0 2,825
Stock-based compensation 1,815 (14,905) (746)
Other permanent differences, net 279 388 174
Executive compensation 1,008 578 0
Exercise of warrants 0 1,162 0
Return to provision adjustments (54) (645) 0
Other 42 (111) (81)
Change in valuation allowance 11,289 27,429 10,321
Total $ (461) $ 172 $ 0
Effective Income Tax Rate Reconciliation, Percent [Abstract]      
Computed tax at federal statutory rate applied to pre-tax loss (as a percent) 21.00% 21.00% 21.00%
State income tax, net of federal tax benefit (as a percent) 4.10% 8.40% 3.30%
Unrealized loss on tranche liability (as a percent) 0.00% 0.00% (5.50%)
Stock-based compensation (as a percent) (3.10%) 31.90% 1.50%
Other permanent differences, net (as a percent) (0.50%) (0.80%) (0.30%)
Executive compensation (as a percent) (1.70%) (1.20%) 0.00%
Exercise of warrants (as a percent) 0.00% (2.50%) 0.00%
Return to provision adjustment (as a percent) 0.10% 1.40% 0.00%
Other (as a percent) (0.10%) 0.20% 0.10%
Valuation allowance increase (as a percent) (19.10%) (58.80%) (20.10%)
Total (as a percent) 0.70% (0.40%) 0.00%