Collaboration, License and Research Agreements - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended		30 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Dec. 31, 2022
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue recognized	$ 2,316	$ 2,178	$ 4,549	$ 3,973
Aggregate funding received from collaboration and research service agreements					$ 41,300
Research Collaboration and License Agreement with Eli Lilly
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue recognized	2,300	$ 2,100	4,500	$ 3,800
Collaboration receivables	$ 1,100		$ 1,100		$ 1,100	$ 2,100