Stockholders' Equity - Summary of Total Compensation Cost Recognized in Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total	$ 1,672	$ 1,849	$ 5,363	$ 5,786
Research and Development
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total	839	931	2,546	2,923
General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total	$ 833	$ 918	$ 2,817	$ 2,863