Stockholders' Equity - Schedule of Stock-based 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]
Stock-based compensation	$ 3,517	$ 3,588	$ 10,806	$ 11,062
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	1,321	1,427	4,322	4,125
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 2,196	$ 2,161	$ 6,484	$ 6,937