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Leases - Narrative (Details) $ in Thousands | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2023 USD ($) | Mar. 31, 2023 USD ($) ft² | Sep. 30, 2023 USD ($) | Aug. 31, 2023 USD ($) ft² | Dec. 31, 2022 USD ($)
Lessee, Lease, Description [Line Items] |  |  |  |  |
Right-of-use assets | $ 6,523 |  | $ 6,523 |  | $ 9,295
Total operating lease liabilities | 7,208 |  | 7,208 |  | $ 9,749
Waltham, Massachusetts |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |
Office space area (in sq.ft) | ft² |  |  |  | 4,247 |
Right-of-use assets |  |  |  | $ 300 |
Total operating lease liabilities |  |  |  | $ 300 |
Facility, Fremont California |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |
Operating lease, impairment loss |  | $ 400 |  |  |
Sublease income | $ 200 |  | $ 500 |  |
Facility, Fremont California | Minimum |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |
Office space area (in sq.ft) | ft² |  | 21,644 |  |  |
Facility, Fremont California | Maximum |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |
Office space area (in sq.ft) | ft² |  | 72,500 |  |  |

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