Accrued and Other Current Liabilities - Schedule of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued employee compensation costs	$ 4,749	$ 5,754
Accrued professional costs	527	525
Accrued research and development costs	5,144	6,601
Current portion of operating lease liabilities	2,498	2,359
Other current liabilities	472	509
Total accrued and other current liabilities	$ 13,390	$ 15,748