Accrued Liabilities - Schedule of Accrued Compensation and Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Accrued compensation:
Accrued bonuses	$ 12,901	$ 16,455
Accrued paid time off	5,594	4,794
Accrued payroll	5,102	5,113
Other accrued compensation	689
Total accrued compensation	24,286	26,362
Accrued expenses and other current liabilities:
Accrued research and development services	9,264	8,733
Accrued professional fees	2,426	1,158
Accrued property and equipment	5,179	1,790
Other accrued current liabilities	2,071	2,866
Total accrued expenses and other current liabilities	$ 18,940	$ 14,547