Summary of Significant Accounting Policies - Liquidity (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounting Policies [Abstract]
Net loss	$ 23,546	$ 65,678	$ 107,659
Net cash used in operating activities	(73,483)	26,531	34,412
Accumulated deficit	368,175	344,629
Cash and cash equivalents	96,663	46,772	$ 71,784
Short-term investments	$ 124,318	$ 132,853