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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | ---
May 31, 2017 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | May 31, 2023 | Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Offering period | 6 months |  |  |  |  |  |
Options outstanding (in shares) |  | 12,680,295 |  | 12,680,295 |  |  | 10,098,929
Weighted-average exercise price of stock options outstanding (in dollars per share) |  | $ 15.26 |  | $ 15.26 |  |  | $ 18.58
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense |  | $ 4,790 | $ 5,123 | $ 14,014 | $ 15,697 |  |
2016 Employee Stock Purchase Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation, number of shares authorized (in shares) | 800,000 |  |  |  |  |  |
Payroll deduction percentage | 10.00% |  |  |  |  |  |
Purchase price of common stock percent of the fair market value | 85.00% |  |  |  |  |  |
Common stock purchased (in shares) |  |  |  | 48,280 |  |  |
StockIncentivePlan2023Member |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation, number of shares authorized (in shares) |  |  |  |  |  | 4,850,000 |
Research and Development |  |  |  |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense |  | 2,335 | 2,571 | $ 6,996 | 7,621 |  |
General and Administrative |  |  |  |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense |  | $ 2,455 | $ 2,552 | $ 7,018 | $ 8,076 |  |

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