Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued compensation and benefits	$ 5,105	$ 5,616
Accrued research and development expense	15,013	15,078
Accrued professional services	508	680
Other	103	271
Total accrued expenses and other current liabilities	$ 20,729	$ 21,645