Property and Equipment, net - Schedule of Property and Equipment (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 12,187	$ 11,327
Less: Accumulated depreciation	(8,218)	(6,841)
Total property and equipment, net	3,969	4,486	[1]
Laboratory equipment
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	10,351	9,581
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	1,663	1,650
Construction-in-progress
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	49	66
Computer equipment and software
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 124	$ 30

[1] The condensed balance sheet as of December 31, 2022 has been derived from the audited financial statements as of that date.