Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued compensation	$ 5,713	$ 5,703
Accrued CDMO costs	5,471	4,390
Accrued CRO costs	134	657
Accrued professional services	626	1,356
Accrued other research and development expenses	599	674
Accrued other liabilities	31	31
Total accrued and other liabilities	$ 12,574	$ 12,811