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Loan with Silicon Valley Bank - Additional Information (Details)		3 Months Ended		9 Months Ended
	Aug. 12, 2021 USD ($) Program	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Dec. 31, 2021 USD ($)
Debt Instrument [Line Items]
Debt instrument, maturity date	Aug. 01, 2026
Percentage of interest rate	7.00%
Percentage of prepayment of facility	7.50%
Warrants associated with loan facility	$ 0
Exit fee recorded as debt discount		$ 3,000,000		$ 3,000,000
Percentage of annual default interest rate	5.00%
Interest expense related to term loan		1,400,000	$ 1,100,000	4,200,000	$ 2,500,000
Prime Rate
Debt Instrument [Line Items]
Debt instrument, basis spread on variable rate	3.75%
Term Loan
Debt Instrument [Line Items]
Current borrowing capacity	$ 30,000,000.0					$ 10,000,000.0
Through December 31, 2021 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity	$ 40,000,000.0
Debt instrument, maturity date	Dec. 31, 2021
January 1, 2022 until September 30, 2022 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity	$ 20,000,000.0	20,000,000		$ 20,000,000
Debt instrument, maturity start date	Jan. 01, 2022
Debt instrument, maturity end date	Sep. 30, 2022			Sep. 30, 2022
Number of distinct and active clinical stage \| Program	3
Proceeds from term loan				$ 0
January 1, 2022 until March 31, 2023 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity		$ 20,000,000		$ 20,000,000
Debt instrument, maturity end date				Mar. 31, 2023
Proceeds from term loan				$ 0
October 1, 2022 until March 31, 2023 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity	$ 20,000,000.0
Debt instrument, maturity start date	Oct. 01, 2022
Debt instrument, maturity end date	Mar. 31, 2023
Number of distinct and active clinical stage \| Program	3
April 1, 2023 until December 31, 2023 \| Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity	$ 20,000,000.0
Debt instrument, maturity start date	Apr. 01, 2023
Debt instrument, maturity end date	Dec. 31, 2023
Through August 13, 2023
Debt Instrument [Line Items]
Percentage of prepayment premium	1.00%