Related Party Transactions - Summary of Expenses Recognized under Consulting Agreement (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Related Party Transaction [Line Items]
Research and development	$ 13,257	$ 14,304	$ 46,051	$ 34,358
General and administrative	5,565	4,888	17,018	13,843
Lease Agreement
Related Party Transaction [Line Items]
Research and development	202	219	629	571
General and administrative	72	77	222	211
Total expenses	274	296	851	782
Research Consulting Agreements
Related Party Transaction [Line Items]
Research and development	45	45	135	135
Total expenses	45	45	135	135
Marlinspike Group, LLC \| Consulting Agreements
Related Party Transaction [Line Items]
General and administrative	60	60	180	180
Total expenses	$ 60	$ 60	$ 180	$ 180

The aggregate costs incurred (1) in a planned search or critical investigation aimed at discovery of new knowledge with the hope that such knowledge will be useful in developing a new product or service, a new process or technique, or in bringing about a significant improvement to an existing product or process; or (2) to translate research findings or other knowledge into a plan or design for a new product or process or for a significant improvement to an existing product or process whether intended for sale or the entity's use, during the reporting period charged to research and development projects, including the costs of developing computer software up to the point in time of achieving technological feasibility, and costs allocated in accounting for a business combination to in-process projects deemed to have no alternative future use.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 730
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482916/730-10-50-1

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 912
-SubTopic 730
-Name Accounting Standards Codification
-Section 25
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482517/912-730-25-1

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 985
-SubTopic 20
-Section 50
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147481283/985-20-50-1

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Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration