Prepaid Expenses and Other Current Assets - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Prepaid Expense and Other Assets, Current [Abstract]
Prepaid software subscription and licensing fees	$ 618	$ 529
Prepaid maintenance	555	295
Prepaid insurance	463	1,251
Prepayments to CROs and CDMOs	295	492
Prepaid lab supplies	221	0
Prepaid property taxes	76	61
Interest receivable	20	435
Other prepaid expenses and current assets	378	319
Total prepaid expenses and other current assets	$ 2,626	$ 3,382