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Employee Benefits - Summary of Stock-based Compensation Expense Classified in Condensed Consolidated Statements of Operations and Comprehensive Loss (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]
Total	$ 7,315	$ 6,525	$ 19,518	$ 18,521
Research and Development
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total	2,959	2,690	8,859	8,025
General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total	$ 4,356	$ 3,835	$ 10,659	$ 10,496

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- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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