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Commitments and Contingencies - Schedule of Future Minimum Noncancelable Operating Lease Payments (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Commitments And Contingencies [Line Items]    
2023 (remaining) $ 841  
2024 3,403  
2025 3,505  
2026 3,611  
2027 3,719  
Thereafter 20,702  
Total minimum lease payments 35,781  
Less: Imputed interest (10,888)  
Total operating lease liabilities 24,893  
Less: Current portion of operating lease liabilities (1,462) $ (763)
Operating lease liabilities, net of current portion $ 23,431 $ 24,542