Commitments, Contingencies and Collaboration and License Agreements - Operating Lease (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Commitments and Contingencies Disclosure [Abstract]
Operating lease expense	$ 494	$ 495	$ 1,482	$ 1,443
Variable lease expenses	305	173	845	502
Cash paid for amounts included in the measurement of lease liabilities	$ 501	$ 487	$ 1,503	$ 1,322