Accrued Expenses and Other Current Liabilities - Summary of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Accounts Payable and Accrued Liabilities, Current [Abstract]
Accrued research and development expenses	$ 9,607	$ 7,486
Accrued bonus	4,337	4,516
Due to Taiho under collaboration agreement, net	3,502	0
Convertible note and accrued interest	1,922	178
Other current liabilities	1,578	1,955
Total accrued expenses and other current liabilities	$ 20,946	$ 14,135