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Basis of Presentation and Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Basis Of Presentation And Summary Of Significant Accounting Policies [Line Items]      
Accumulated deficit $ (231,678)   $ (212,435)
Net loss 19,243 $ 31,380  
Cash, cash equivalents and short-term investments $ 149,300    
ASU 2016-13      
Basis Of Presentation And Summary Of Significant Accounting Policies [Line Items]      
Change in accounting principle, accounting standards update, adopted [true false] true    
Change in accounting principle, accounting standards update, adoption date Jan. 01, 2023    
Change in accounting principle, accounting standards update, immaterial effect [true false] true