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Stockholders' Equity - Summary of Stock Option Activity (Details) - Stock Options
$ / shares in Units, $ in Thousands
 9 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of Shares Subject to Options outstanding, Beginning Balance | shares 5,102,501
Number of Shares Subject to Options, Granted | shares 2,433,300
Number of Shares Subject to Options, Exercised | shares 0
Number of Shares Subject to Options, Forfeitures and Cancellations | shares (367,498)
Number of Shares Subject to Options outstanding, Ending Balance | shares 7,168,303
Number of Shares Subject to Options, Exercisable | shares 3,574,240
Weighted- Average Exercise Price Per Share, Beginning Balance | $ / shares $ 4.11
Weighted- Average Exercise Price Per Share, Granted | $ / shares 0.99
Weighted- Average Exercise Price Per Share, Exercised | $ / shares 0
Weighted- Average Exercise Price Per Share, Forfeitures and Cancellations | $ / shares 2.43
Weighted- Average Exercise Price Per Share, Ending Balance | $ / shares 0.91
Weighted- Average Exercise Price Per Share, Exercisable | $ / shares $ 1.05
Weighted Average Remaining Contractual Term, Options Outstanding 7 years 9 months 10 days
Weighted Average Remaining Contractual Term, Options Exercisable 6 years 8 months 19 days
Aggregate Intrinsic Value, Options Outstanding | $ $ 29
Aggregate Intrinsic Value, Options Exercisable | $ $ 4