Balance Sheet Components - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Research and development expenses	$ 15,057	$ 11,321
Insurance related expenses	2,805	2,788
Value added tax receivable	1,932	2,557
Other	2,859	3,271
Prepaid expenses and other current assets	$ 22,653	$ 19,937