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Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Summary Of Significant Accounting Policies [Line Items]        
Cash and cash equivalents and restricted cash $ 25,361 $ 16,513 $ 43,174 $ 32,798
Description of lease For lease classification determination, Management continues to use (i) 75% or greater to determine whether the lease term is a major part of the remaining economic life of the underlying asset and (ii) 90% or greater to determine whether the present value of the sum of lease payments is substantially all of the fair value of the underlying asset.      
Reserve for inventory $ 100   100  
Restricted cash 100   100  
Refundable deposit $ 5,000   $ 5,000  
Restricted Cash, Current, Statement of Financial Position [Extensible Enumeration] Other Assets, Current   Other Assets, Current  
Excess and obsolete inventory $ 30 $ 379    
Other Current Assets        
Summary Of Significant Accounting Policies [Line Items]        
Inventory 1,300   $ 1,400  
Other Long-term Assets        
Summary Of Significant Accounting Policies [Line Items]        
Refundable deposit 5,000      
Perceptive Term Loan Facility        
Summary Of Significant Accounting Policies [Line Items]        
Cash and cash equivalents and restricted cash 25,300      
Aggregate principal amount outstanding $ 30,000