Organization - Additional Information (Details) - USD ($) shares in Millions	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Aug. 31, 2022
Description Of Organization [Line Items]
Accumulated deficit	$ 1,249,974,000		$ 1,054,836,000
Cash, cash equivalents and marketable securities	268,600,000
Success payment liabilities	10,000,000
Contingent consideration	51,900,000
Net proceeds from issuance of common stock	2,919,000	$ 3,128,000
At The Market Offering
Description Of Organization [Line Items]
Net proceeds from issuance of common stock	$ 27,009,000	$ 724,000
Cowen | At The Market Offering
Description Of Organization [Line Items]
Common stock maximum aggregate offering price				$ 150,000,000
Aggregate common stock sold	4.7
Net proceeds from issuance of common stock	$ 27,600,000
Gross proceeds from issuance of common stock	$ 29,500,000