Stockholders' Equity - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Class Of Stock [Line Items]
Stock-based compensation	$ 2,194	$ 3,517	$ 6,990	$ 10,806
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	1,071	1,321	3,314	4,322
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 1,123	$ 2,196	$ 3,676	$ 6,484