Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Accrued research and development	$ 5,699	$ 8,190
Accrued compensation	2,745	2,519
Lease liabilities, current portion	1,538	1,521
Accrued clinical trial	1,359	1,473
Accrued severance	992	1,463
Accrued professional and consulting fees	579	390
Accrued property, plant and equipment	45	2,081
Other	681	650
Total accrued expenses and other current liabilities	$ 13,638	$ 18,287