Fair Value Measurements - Summary of Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands | Mar. 31, 2023 | Dec. 31, 2022 |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | $ 56,340 | $ 48,411 |
Fair Value, Recurring | | |
Assets: | | |
Cash equivalents: | 27,255 | 35,135 |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 56,340 | 48,411 |
Total assets measured at fair value on a recurring basis | 83,595 | 83,546 |
Liabilities: | | |
Warrant liability | 12 | 5 |
Liabilities, Fair Value Disclosure, Total | 12 | 5 |
Fair Value, Recurring | Money market | | |
Assets: | | |
Cash equivalents: | 20,747 | 9,365 |
Fair Value, Recurring | Corporate debt securities | | |
Assets: | | |
Cash equivalents: | 529 | 7,374 |
Fair Value, Recurring | U.S. government debt securities | | |
Assets: | | |
Cash equivalents: | 5,979 | 18,396 |
Fair Value, Recurring | Level 1 | | |
Assets: | | |
Cash equivalents: | 20,747 | 9,365 |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 0 | 0 |
Total assets measured at fair value on a recurring basis | 20,747 | 9,365 |
Liabilities: | | |
Warrant liability | 0 | 0 |
Liabilities, Fair Value Disclosure, Total | 0 | 0 |
Fair Value, Recurring | Level 1 | Money market | | |
Assets: | | |
Cash equivalents: | 20,747 | 9,365 |
Fair Value, Recurring | Level 1 | Corporate debt securities | | |
Assets: | | |
Cash equivalents: | 0 | 0 |
Fair Value, Recurring | Level 1 | U.S. government debt securities | | |
Assets: | | |
Cash equivalents: | 0 | 0 |
Fair Value, Recurring | Level 2 | | |
Assets: | | |
Cash equivalents: | 6,508 | 25,770 |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 56,340 | 48,411 |
Total assets measured at fair value on a recurring basis | 62,848 | 74,181 |
Liabilities: | | |
Warrant liability | 0 | 0 |
Liabilities, Fair Value Disclosure, Total | 0 | 0 |
Fair Value, Recurring | Level 2 | Money market | | |
Assets: | | |
Cash equivalents: | 0 | 0 |
Fair Value, Recurring | Level 2 | Corporate debt securities | | |
Assets: | | |
Cash equivalents: | 529 | 7,374 |
Fair Value, Recurring | Level 2 | U.S. government debt securities | | |
Assets: | | |
Cash equivalents: | 5,979 | 18,396 |
Fair Value, Recurring | Level 3 | | |
Assets: | | |
Cash equivalents: | 0 | 0 |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 0 | 0 |
Total assets measured at fair value on a recurring basis | 0 | 0 |
Liabilities: | | |
Warrant liability | 12 | 5 |
Liabilities, Fair Value Disclosure, Total | 12 | 5 |
Fair Value, Recurring | Level 3 | Money market | | |
Assets: | | |
Cash equivalents: | 0 | 0 |
Fair Value, Recurring | Level 3 | Corporate debt securities | | |
Assets: | | |
Cash equivalents: | 0 | 0 |
Fair Value, Recurring | Level 3 | U.S. government debt securities | | |
Assets: | | |
Cash equivalents: | 0 | 0 |
Corporate debt securities | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 10,881 | 13,301 |
Corporate debt securities | Fair Value, Recurring | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 10,881 | 13,301 |
Corporate debt securities | Fair Value, Recurring | Level 1 | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 0 | 0 |
Corporate debt securities | Fair Value, Recurring | Level 2 | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 10,881 | 13,301 |
Corporate debt securities | Fair Value, Recurring | Level 3 | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 0 | 0 |
Municipal debt securities | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | | 993 |
Municipal debt securities | Fair Value, Recurring | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | | 993 |
Municipal debt securities | Fair Value, Recurring | Level 1 | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | | 0 |
Municipal debt securities | Fair Value, Recurring | Level 2 | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | | 993 |
Municipal debt securities | Fair Value, Recurring | Level 3 | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | | 0 |
U.S. government debt securities | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 45,459 | 34,117 |
U.S. government debt securities | Fair Value, Recurring | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 45,459 | 34,117 |
U.S. government debt securities | Fair Value, Recurring | Level 1 | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 0 | 0 |
U.S. government debt securities | Fair Value, Recurring | Level 2 | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | 45,459 | 34,117 |
U.S. government debt securities | Fair Value, Recurring | Level 3 | | |
Marketable securities, available for sale: | | |
Total marketable securities, available for sale | $ 0 | $ 0 |