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Balance Sheet Components - Schedule of Prepaid Expenses and Other Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract] |  |
Research and development | $ 7,904 | $ 3,303
Insurance | 933 | 1,467
Other prepaids | 615 | 370
Other assets | 1,050 | 395
Prepaid expenses and other assets | $ 10,502 | $ 5,535

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