Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued research and development expenses	$ 12,602	$ 9,447
Accrued compensation and benefits	3,606	5,953
Accrued professional fees	877	1,052
Accrued other	760	2,263
Total accrued expenses and other liabilities	$ 17,845	$ 18,715