Convertible Preferred Stock and Stockholders’ Equity (Deficit) - Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Class of Stock [Line Items]
Compensation expense	$ 2,564	$ 1,447	$ 7,195	$ 4,219
Research and development
Class of Stock [Line Items]
Compensation expense	1,063	757	3,023	2,219
General and administrative
Class of Stock [Line Items]
Compensation expense	$ 1,501	$ 690	$ 4,172	$ 2,000