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Stock-based Compensation - Schedule of Stock-based Compensation Expense (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]        
Stock-based compensation $ 6,238 $ 5,232 $ 20,095 $ 14,729
Research and Development        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation 3,162 2,872 10,909 8,607
General and Administrative        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation $ 3,076 $ 2,360 $ 9,186 $ 6,122