Balance Sheet Components - Summary of Accrued Expense and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Accrued Liabilities, Current [Abstract]
Accrued research and development materials and services	$ 4,984	$ 6,039
Accrued professional services	294	208
Accrued personnel expenses	4,749	4,774
Other	164	636
Total accrued expenses and other current liabilities	$ 10,191	$ 11,657