Summary of Significant Accounting Policies - Property and Equipment (Details) - USD ($) $ in Thousands	1 Months Ended	12 Months Ended
	Aug. 31, 2018	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Estimated useful life of assets	10 years
Accrued research and development services current		$ 3,252	$ 3,669
Accrued compensation and benefits current		7,830	5,711
Operating Lease, Liability, Current		1,291	1,089
Other Accrued Liabilities, Current		404	2,503
Accrued Liabilities		$ 12,777	$ 12,972
Minimum
Property, Plant and Equipment [Line Items]
Estimated useful life of assets		3 years
Maximum
Property, Plant and Equipment [Line Items]
Estimated useful life of assets		40 years