The answer is no, already for linear orders, considered as thin categories. Consider the real intervals $(0,1)$ and $[0,1]$, for example. There are injective monotonic maps* $(0,1) \hookrightarrow [0,1]$ and $[0,1] \xrightarrow{\sim} [\frac{1}{4},\frac{3}{4}] \hookrightarrow (0,1)$, but no isomorphism of linear orders. See also A "Cantor-Schroder-Bernstein" theorem for partially-ordered-sets.
But it is worthwile mentioning that, even though it is not true in general, it is true for finite categories.
Let $\mathcal{C}$, $\mathcal{D}$ be finite categories with fully faithful functors $F : \mathcal{C} \to \mathcal{D}$ and $G : \mathcal{D} \to \mathcal{C}$. Let $\mathcal{C}/{\cong}$ and $\mathcal{D}/{\cong}$ denote the sets of isomorphism classes in these categories. Then $F$ and $G$ induce injective maps between these. Therfore, $\mathcal{C}/{\cong}$ and $\mathcal{D}/{\cong}$ are finite sets with the same number elements. But then the injective map $F : \mathcal{C}/{\cong} \to \mathcal{D}/{\cong}$ must be also surjective, which precisely means that $F$ is essentially surjective.
*Notice that a fully faithful functor between partially ordered sets, considered as categories, is not the same as an injective monotonic map. Instead, it is a monotonic map (preserves the order) that also reflects the order. It is then automatically injective, but in general, an injective monotonic map does not need to reflect the order (consider the bijection $\{a,b\} \to \{c,d\}$ with no relation between $a$ and $b$, but $ c \leq d$). But for linear orders, the condition is equivalent to being an injective monotonic map.