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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Federal and state net operating loss carryforwards	$ 57,746	$ 52,231
Research and development tax credits	12,613	7,726
R&D capitalized expenses	17,148
Accrued compensation and stock compensation	10,274	6,055
Other	142	20
Gross deferred tax assets	97,923	66,032
Less: valuation allowance	$ (97,923)	$ (66,032)

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