Collaboration Revenue - Summary of Research and Development Costs Incurred and Collaboration Revenue Recognized (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Total revenues	$ 22,655	$ 1,675
Collaborative Arrangement
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Total revenues	2,045	975
Collaborative Arrangement | Reimbursement Revenue
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Total revenues	1,776	843
Collaborative Arrangement | Upfront and Milestone Payment Revenue
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Total revenues	$ 269	$ 132