Stockholders’ Equity and Stock-based Compensation - Restricted Stock Awards (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 24,982	$ 31,145
Research and development expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	12,013	14,974
General and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 12,969	16,171
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	3 years
Total stock-based compensation expense	$ 10,081	$ 11,004
Unrecognized stock based compensation	$ 3,300
Awards weighted average recognition period	1 year 8 months 8 days
Vested (in shares)	1,234,192	295,053
Restricted Stock Units (RSUs) | Research and development expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 5,371	$ 5,665
Restricted Stock Units (RSUs) | General and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	4,710	5,339
Restricted Stock And Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	142	142
Unrecognized stock based compensation	$ 100
Awards weighted average recognition period	6 months 29 days
Total grant date fair value for awards vested	$ 100	100
Restricted Stock And Restricted Stock Units | Research and development expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	0	0
Restricted Stock And Restricted Stock Units | General and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 142	$ 142