Stockholders' Equity - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Class Of Stock [Line Items]
Stock-based compensation	$ 2,300	$ 3,614
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	1,080	1,451
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 1,220	$ 2,163