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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.