Commitments and Contingencies - Schedule of Amounts Reported in Consolidated Balance Sheets for Leases (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Operating Leases:
Right-of-use assets, operating leases	$ 8,545	$ 9,539
Operating lease liabilities, current	0	528
Operating lease liabilities, non-current	12,699	13,448
Total operating lease liabilities	$ 12,699	$ 13,976
Weighted-average remaining lease term (years)	8 years 8 months 1 day	9 years 29 days
Weighted-average discount rate	5.75%	5.75%