Stock-Based Awards - Summary of Assumptions Used for Estimating the Fair Value of Stock Options Granted (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term of options (in years)	6 years 1 month 6 days	6 years 1 month 6 days
Expected stock price volatility, minimum	99.90%	110.60%	99.60%	103.80%
Expected stock price volatility, maximum	100.90%	110.80%	101.50%	111.20%
Risk-free interest rate, minimum	4.00%	3.00%	3.40%	1.60%
Risk-free interest rate, maximum	4.40%	3.60%	4.40%	3.60%
Expected dividend yield (percentage)	0.00%	0.00%	0.00%	0.00%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term of options (in years)			5 years 6 months	5 years 3 months 18 days
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term of options (in years)			6 years 1 month 6 days	6 years 1 month 6 days