Stock-Based Compensation - Schedule of Recognized Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands |
3 Months Ended | 9 Months Ended | ||
|---|---|---|---|---|
Sep. 30, 2023 |
Sep. 30, 2022 |
Sep. 30, 2023 |
Sep. 30, 2022 |
|
| Compensation expense: | ||||
| Stock-based compensation expense | $ 1,135 | $ 1,556 | $ 4,160 | $ 4,580 |
| Research and Development | ||||
| Compensation expense: | ||||
| Stock-based compensation expense | 512 | 613 | 1,747 | 2,044 |
| General and Administrative | ||||
| Compensation expense: | ||||
| Stock-based compensation expense | $ 623 | $ 943 | $ 2,413 | $ 2,536 |