Description of Business and Liquidity and Going Concern - Liquidity and Going Concern (Details) - USD ($) $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Description of Business and Liquidity and Going Concern
Accumulated deficit	$ 307,857						$ 307,857		$ 249,108
Net loss	16,748	$ 19,355	$ 22,646	$ 19,790	$ 24,613	$ 21,353	58,749	$ 65,756
Cash and cash equivalents	$ 59,772			$ 139,143			$ 59,772	$ 139,143	$ 120,385
Substantial doubt about going concern within one year							true