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Restructuring - Additional Information (Details)
 1 Months Ended 3 Months Ended 9 Months Ended
Jul. 31, 2023
Positions
Sep. 30, 2023
USD ($)
Sep. 30, 2023
USD ($)
Dec. 31, 2022
USD ($)
Restructuring Cost and Reserve [Line Items]        
Restructuring and related activities initiation month and year     2023-07  
Number of positions eliminated | Positions 60      
Restructuring charge   $ 6,000,000 $ 5,969,000  
Restructuring accrual   3,374,000 3,374,000  
Research and Development Expense        
Restructuring Cost and Reserve [Line Items]        
Restructuring charge   4,500,000 4,500,000  
Selling, General and Administrative Expense        
Restructuring Cost and Reserve [Line Items]        
Restructuring charge   1,500,000 1,500,000  
Accounts payable and accrued expenses        
Restructuring Cost and Reserve [Line Items]        
Restructuring accrual   $ 3,400,000 $ 3,400,000 $ 0