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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