Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued research and development expenses	$ 9,202	$ 9,447
Accrued compensation and benefits	2,517	5,953
Accrued professional fees	1,013	1,052
Accrued other	160	2,263
Total accrued expenses and other liabilities	$ 12,892	$ 18,715