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Stock-Based Compensation Plans - Schedule of Stock-based Compensation Expense for Stock Awards Recognized (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Stock-based compensation expense |  |  | $ 3,777 | $ 4,131
Employees |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Stock-based compensation expense | $ 1,798,000 | $ 2,062,000 | 3,777,000 | 4,131,000
Employees | Research and Development |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Stock-based compensation expense | 889,000 | 765,000 | 1,792,000 | 1,561,000
Employees | General and Administrative |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Stock-based compensation expense | $ 909,000 | $ 1,297,000 | $ 1,985,000 | $ 2,570,000

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