Stock Incentive Plans - Additional Information (Details) $ / shares in Units, $ in Thousands		1 Months Ended	3 Months Ended			9 Months Ended
	Jan. 01, 2023 shares	Mar. 31, 2018 shares	Sep. 30, 2023 USD ($) shares	Sep. 30, 2022 USD ($)	Mar. 31, 2022 USD ($)	Sep. 30, 2023 USD ($) Employee $ / shares shares	Sep. 30, 2022 USD ($) $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate proceeds from shares issued under the plan | $						$ 168	$ 563
Stock-based compensation | $			$ 1,707	$ 2,771		$ 6,477	$ 9,965
Weighted-average grant date fair value per share for options granted | $ / shares						$ 1.01	$ 1.72
Share-Based Goods and Nonemployee Services Transaction, Modification of Terms, Incremental Compensation Cost | $			100			$ 400
Total compensation cost reversed | $			$ 100
Number of employees get terminated | Employee						80
2015 Stock Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option vesting period						4 years
Stock options expiration period						10 years
Number of additional shares available for future grant | shares			0			0
2018 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance | shares		3,186,205
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock	4.00%	4.00%
Maximum shares of common stock may be issued | shares		20,887,347
Number of shares outstanding available for future grant | shares	2,299,356		1,978,793			1,978,793
2018 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance | shares		353,980
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock	1.00%	1.00%
Number of shares outstanding available for future grant | shares	574,839		2,693,911			2,693,911
Maximum shares allowed to be issued under ESPP | shares		4,778,738
Purchase of common stock through payroll deductions expressed in percentage of fair market value						85.00%
Common stock offering period						6 months
Number of shares issued to the plan | shares						133,817	226,453
Aggregate proceeds from shares issued under the plan | $						$ 200	$ 600
Stock-based compensation | $			$ 100	$ 100		100	$ 100
Excess of accrued right to purchase stock | $						25,000
2015 and 2018 Stock Incentive Plans
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense | $			10,500			$ 10,500
Unrecognized compensation expense estimated to be recognized over period						2 years 2 months 12 days
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock award and exercise vested option to transferred employees | shares						400,000
Compensation cost, Total | $			100			$ 100
Total compensation cost reversed | $			200
Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock award and exercise vested option to transferred employees | shares						3,300,000
OXB Solutions [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Compensation cost, Total | $			$ 800			$ 800
Total compensation cost reversed | $					$ 100
OXB Solutions [Member] | Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock award and exercise vested option to transferred employees | shares						100,000
OXB Solutions [Member] | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock award and exercise vested option to transferred employees | shares						1,600,000