Stock-Based Compensation - Summary of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share-based Payment Arrangement
Stock-based compensation expense	$ 4,470	$ 3,509	$ 9,041	$ 6,753
Research and development expenses
Share-based Payment Arrangement
Stock-based compensation expense	1,985	1,586	4,024	3,095
General and administrative expenses
Share-based Payment Arrangement
Stock-based compensation expense	$ 2,485	$ 1,923	$ 5,017	$ 3,658