Stock-Based Compensation - Compensation expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock-based compensation
Share-based compensation expense	$ 3,396	$ 2,707	$ 9,270	$ 7,013
Research and development expenses
Stock-based compensation
Share-based compensation expense	1,601	1,158	4,317	2,836
General and administrative expenses
Stock-based compensation
Share-based compensation expense	$ 1,795	$ 1,549	$ 4,953	$ 4,177