Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued compensation and benefits	$ 5,755	$ 5,953
Accrued research and development expenses	0	9,447
Accrued professional fees	941	1,052
Accrued other	325	2,263
Total accrued expenses and other liabilities	$ 7,021	$ 18,715