Stockholders' Equity - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Class Of Stock [Line Items]
Stock-based compensation	$ 2,496	$ 3,675	$ 4,796	$ 7,289
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	1,164	1,550	2,243	3,001
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 1,332	$ 2,125	$ 2,553	$ 4,288