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Condensed Consolidated Statements of Cash Flows (Unaudited) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Operating activities:    
Net loss $ (14,297) $ (7,947)
Adjustments to reconcile net loss to net cash used in operating activities:    
Depreciation 482 534
Stock-based compensation 1,129 916
Non-cash operating lease expense 301 367
Amortization of (discount) premium on marketable securities, net (241) 116
Change in fair value of warrant liabilities 265 (6,497)
Changes in operating assets and liabilities:    
Prepaid expenses and other current assets 592 274
Other assets (2) (24)
Accounts payable (487) (1,755)
Accrued and other liabilities (1,387) (3,782)
Operating Lease liabilities (525) (576)
Net cash used in operating activities (14,170) (18,374)
Investing activities:    
Purchases of property and equipment (315) (412)
Purchases of marketable securities (7,857) 0
Proceeds from maturities of marketable securities 25,500 0
Net cash provided by (used in) investing activities 17,328 (412)
Financing activities:    
Repurchase of early exercised stock options (39) 0
Net cash (used in) provided by financing activities (39) 0
Net (decrease) increase in cash, cash equivalents and restricted cash 3,119 (18,786)
Cash, cash equivalents and restricted cash at beginning of period 25,095 33,496
Cash, cash equivalents and restricted cash at end of period 28,214 14,710
Supplemental disclosure of noncash investing and financing activities:    
Deferred costs related to Equity Purchase Agreement included in accounts payable, accrued liabilities and additional paid-in capital 0 432
Purchases of property and equipment included in accounts payable 85 0
Vesting of early exercises of stock options 13 30
Reconciliation Of Cash Cash Equivalents And Restricted Cash To Consolidated Balance Sheets Abstract    
Cash and cash equivalents 27,809 14,305
Restricted cash 405 405
Cash, cash equivalents and restricted cash $ 28,214 $ 14,710