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Leases - Additional Information (Details)
$ in Thousands
 1 Months Ended 3 Months Ended 6 Months Ended
May 31, 2021
ft²
Apr. 30, 2021
USD ($)
Oct. 31, 2020
Jun. 30, 2023
USD ($)
Jun. 30, 2022
USD ($)
Jun. 30, 2023
USD ($)
Jun. 30, 2022
USD ($)
Dec. 31, 2022
Lessee Lease Description [Line Items]                
Sublease rent income         $ 134 $ 134 $ 269  
Variable lease expense       $ 152 188 $ 248 262  
Weighted-average remaining lease term       4 years 9 months 18 days   4 years 9 months 18 days   5 years 3 months 18 days
Weighted-average discount rate       7.87%   7.87%   7.86%
Cash paid for measurement of lease liabilities           $ 500    
Arsenal Way Lease                
Lessee Lease Description [Line Items]                
Lessee, operating lease, commencement month and year   2021-04            
Lessee operating lease, renewal term   5 years            
Lessee, operating lease, initial term   7 years            
Lessee, operating lease, option to extend           The lease has an initial term from the rent commencement date, which is a month after the lease commencement date, of approximately seven years, with an option to extend the term for an additional five years at then-market rental rates.    
Lessee, Operating Lease, Existence of Option to Extend [true false]   true            
Letter of credit   $ 300            
Tenant improvements cost   700            
Base rent   $ 1,000            
Annual rent increase percentage   3.00%            
Rentable square feet | ft² 6,330              
Sublease expiration, month and year 2023-03              
Sublease rent income         $ 200 $ 200 $ 400  
Lund, Sweden                
Lessee Lease Description [Line Items]                
Lessee, operating lease, commencement month and year     2020-10          
Lessee, operating lease, expiration month and year     2023-09          
Lessee operating lease, renewal term     3 years          
Lessee, Operating Lease, Existence of Option to Extend [true false]     true