Collaboration, License and Research Agreements - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended		33 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Dec. 31, 2022
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue recognized	$ 2,818	$ 2,482	$ 7,367	$ 6,455
Aggregate funding received from collaboration and research service agreements					$ 42,300
Research Collaboration and License Agreement with Eli Lilly
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue recognized	2,800	$ 2,400	7,300	$ 6,300
Collaboration receivables	$ 1,000		$ 1,000		$ 1,000	$ 2,100