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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Line Items]    
Deferred tax assets, valuation allowance $ 75,982,000 $ 42,046,000
Deferred tax assets, change in valuation allowance $ 34,000,000.0  
Operating loss carryforwards limitations on use Federal net operating losses generated after 2017 can be carried forward indefinitely but utilization will be limited to 80% of taxable income in the period that net operating losses are being utilized.  
Taxable income utilization percentage 80.00%  
Federal research and development credit carryforwards $ 4,300,000 2,100,000
State research and development credit carryforwards 1,800,000 1,100,000
Increase in unrecognized tax benefits 700,000 500,000
Unrecognized tax benefits impact effective tax rate $ 0  
Research and Development Expenses    
Income Tax Disclosure [Line Items]    
Amortization period 5 years  
Federal    
Income Tax Disclosure [Line Items]    
Accumulated tax loss carryforward $ 160,900,000  
Federal | Research and Development Credit Carryforwards    
Income Tax Disclosure [Line Items]    
Carryforward tax losses expiration year 2040  
Federal | Research and Development Expenses    
Income Tax Disclosure [Line Items]    
Amortization period 5 years  
State    
Income Tax Disclosure [Line Items]    
Accumulated tax loss carryforward $ 169,800,000  
Foreign | Research and Development Expenses    
Income Tax Disclosure [Line Items]    
Amortization period 15 years  
Israel    
Income Tax Disclosure [Line Items]    
Accumulated tax loss carryforward $ 32,100,000 18,500,000
United States    
Income Tax Disclosure [Line Items]    
Accumulated tax loss carryforward   $ 138,500,000
California | State    
Income Tax Disclosure [Line Items]    
Carryforward tax losses expiration year 2041