Stockholders' Equity - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Class Of Stock [Line Items]
Stock-based compensation	$ 3,614	$ 3,632
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	1,451	1,300
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 2,163	$ 2,332