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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