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Stock-based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 3 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Aug. 17, 2022 | Mar. 31, 2023 | Mar. 31, 2022 | Dec. 31, 2022 | Dec. 31, 2021 | Sep. 17, 2019 | Nov. 13, 2014
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  | 7,290,493 |  | 6,730,269 | 8,382,667 |  |
Options vesting period |  |  |  | 4 years |  |  |
Weighted-average grant date fair value of stock options granted |  | $ 3.58 | $ 3.55 | $ 1.58 | $ 22.39 |  |
Total grant date fair value of stock options vested |  | $ 2,874 | $ 5,097 | $ 14,219 | $ 16,304 |  |
Underwater Options reduced | $ 2.14 |  |  |  |  |  |
Cost related to stock options, stock based compensation | $ 2,505 | 170 |  | 1,630 | 2,505 |  |
Expenses of Stock Based Compensation to be Recognized over vesting period of options |  | 705 |  | 875 |  |  |
Stock-based compensation expense |  | 3,431 | 5,266 |  |  |  |
Total unrecognized stock-based compensation expense relating to unvested stock options |  | $ 17,610 |  | $ 19,537 | $ 39,112 |  |
Unrecognized unvested stock options, restricted stock awards and restricted stock units, weighted-average period |  | 1 year 8 months 19 days |  | 1 year 6 months 18 days | 2 years 5 months 26 days |  |
Research and Development |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense |  | $ 839 | 2,301 | $ 19,831 |  |  |
General and Administrative |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense |  | $ 2,592 | $ 2,965 |  | $ 21,750 |  |
Maximum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Options expiration period |  |  |  | 10 years |  |  |
2014 Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  |  |  |  |  |  | 8,550,415
Common stock, shares available for future grants |  |  |  | 0 |  |  |
2019 Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of authorized shares reserved for issuance |  |  |  |  |  | 3,100,000 |
Period for automatic increase in common stock available for future issuance |  |  |  | 10 years |  |  |
Percentage of shares issued from outstanding number of shares |  |  |  | 4.00% |  |  |
Common stock future issuance, description |  |  |  | In addition, the number of shares of common stock available for issuance under the 2019 Plan will be automatically increased on the first day of each calendar year during the ten-year term of the 2019 Plan, beginning with January 1, 2020 and ending with January 1, 2029, by the amount equal to 4% of the outstanding number of shares of the Company’s common stock on December 31 of the preceding calendar year or such lesser amount as determined by the Company’s board of directors. |  |  |

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