Commitments and Contingencies - Schedule of Lease Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Lessee, Lease, Description [Line Items]
Operating lease cost	$ 5,452	$ 5,111
Research and development
Lessee, Lease, Description [Line Items]
Operating lease cost	3,319	3,068
General and administrative
Lessee, Lease, Description [Line Items]
Operating lease cost	$ 2,133	$ 2,043