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Commitments and Contingencies - Master Services Agreement (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Sep. 30, 2022
Oct. 05, 2020
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]        
Lease liabilities $ 877 $ 1,208    
Master Services Agreement With Integrium LLC, 2020        
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]        
Reduced paid service for achievement of certain milestones       $ 6,000
Lease liabilities $ 1,200   $ 1,000  
Master Services Agreement With Integrium LLC, 2020 | Maximum        
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]        
Consideration payable on achievement of milestones       $ 12,400