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Related Party Transactions - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Related Party Transaction [Line Items]          
Amount due to related party $ 1,945   $ 1,945   $ 572
Consulting fees to members of management 100 $ 100 300 $ 500  
ElevateBio and Affiliates          
Related Party Transaction [Line Items]          
Expenses related to services with related party $ 600 $ 2,300 $ 4,100 $ 4,800