Nature of the Business - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Net losses attributable to common stockholders	$ (45,267)	$ (41,183)	$ (44,639)	$ (43,863)	$ (86,450)	$ (88,502)
Accumulated deficit	(552,225)				(552,225)		$ (465,775)
Cash, cash equivalents and short-term investments	$ 246,500				$ 246,500