Summary of Significant Accounting Policies - Schedule of Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restricted Cash and Cash Equivalents Items [Line Items]
Other assets	$ 1,025	$ 1,321	$ 1,730
Restricted Cash	1,310	1,321
Restricted cash, current (included within prepaid expenses and other current assets)	$ 285	$ 0	$ 264
Restricted Cash, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Other assets	Other assets
Letter of credit security: Waltham lease | Letter of Credit
Restricted Cash and Cash Equivalents Items [Line Items]
Other assets	$ 250	$ 250
Letter of credit security: Vienna Austria lease | Letter of Credit
Restricted Cash and Cash Equivalents Items [Line Items]
Other assets	205	216
Letter of credit security: Boston lease | Letter of Credit
Restricted Cash and Cash Equivalents Items [Line Items]
Other assets	$ 855	$ 855