Significant Accounting Policies - Summary of Effect of the Adoption of ASC 842 on Statement of Operations and Cash Flows (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Operating expenses:
Research and development	$ 19,791	$ 23,506	$ 32,305	$ 61,688
Other income (expense):
Interest expense	(1,440)	(743)	(2,814)	(1,415)
Net loss	(24,598)	(34,092)	(42,220)	(84,409)
Adjustments to reconcile net loss to net cash used in operating activities:
Depreciation expense	$ 400	$ 300	674	533
Non-cash lease expense			603	646
Changes in operating assets and liabilities:
Accrued expenses and other current liabilities				(8,461)
Cash flows from financing activities
Other			$ (156)	(766)
Supplemental disclosure of noncash investing and financing activities:
Right-of-use assets obtained in exchange for lease liabilities				$ 18,925
Accounting Standards Update [Extensible Enumeration]		Accounting Standards Update 2016-02 [Member]		Accounting Standards Update 2016-02 [Member]
Previously ASC 842
Operating expenses:
Research and development		$ 23,118		$ 60,917
Other income (expense):
Interest expense		(912)		(1,761)
Net loss		(33,873)		(83,984)
Adjustments to reconcile net loss to net cash used in operating activities:
Depreciation expense				531
Changes in operating assets and liabilities:
Accrued expenses and other current liabilities				(7,958)
Cash flows from financing activities
Other				(1,046)
ASC 842 Adjustments
Operating expenses:
Research and development		388		771
Other income (expense):
Interest expense		169		346
Net loss		$ (219)		(425)
Adjustments to reconcile net loss to net cash used in operating activities:
Depreciation expense				2
Non-cash lease expense				646
Changes in operating assets and liabilities:
Accrued expenses and other current liabilities				(503)
Cash flows from financing activities
Other				280
Supplemental disclosure of noncash investing and financing activities:
Right-of-use assets obtained in exchange for lease liabilities				$ 18,925