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Restructuring Charges - Charges Related to the Restructuring Activities (Details) - USD ($) $ in Thousands |  | 3 Months Ended | 12 Months Ended
--- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Severance Related Expenses |  |  | $ 6,400 |  |
Loss on disposal of long-lived assets |  |  | $ 915 | $ 0 | $ 0
Lease Asset Impairment | $ 900 |  |  |  |
Research and development |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Loss on disposal of long-lived assets |  | $ 700 |  |  |
General and administrative |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Loss on disposal of long-lived assets |  | 200 |  |  |
Restructuring Activities |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Severance Related Expenses |  | 6,448 |  |  |
Stock-based compensation expense |  | 993 |  |  |
Loss on disposal of long-lived assets |  | 931 |  |  |
Lease Asset Impairment |  | 2,580 |  |  |
Total Restructuring Costs |  | 10,952 |  |  |
Restructuring Activities | Research and development |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Severance Related Expenses |  | 3,182 |  |  |
Stock-based compensation expense |  | 123 |  |  |
Loss on disposal of long-lived assets |  | 749 |  |  |
Lease Asset Impairment |  | 1,405 |  |  |
Total Restructuring Costs |  | 5,459 |  |  |
Restructuring Activities | General and administrative |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Severance Related Expenses |  | 3,266 |  |  |
Stock-based compensation expense |  | 870 |  |  |
Loss on disposal of long-lived assets |  | 182 |  |  |
Lease Asset Impairment |  | 1,175 |  |  |
Total Restructuring Costs |  | $ 5,493 |  |  |

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