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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 9 Months Ended
Aug. 07, 2023
Jul. 31, 2023
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Common stock, shares authorized     200,000,000   200,000,000   200,000,000
Common stock, par value     $ 0.0001   $ 0.0001   $ 0.0001
Preferred stock, shares authorized     10,000,000   10,000,000    
Preferred stock, par value     $ 0.0001   $ 0.0001    
Common stock, shares outstanding     35,119,248   35,119,248   34,414,149
Shares repurchase value     $ 260        
Incremental stock-based compensation expense     979 $ 1,189 $ 2,951 $ 3,789  
Unamortized stock compensation for stock options     6,300   $ 6,300    
Weighted-average recognition period of stock option unamortized         2 years 8 months 23 days    
Repriced Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of vesting shares 0            
Incremental stock-based compensation expense $ 1,300            
Repriced Options | General and Administrative and Research and Development Expense              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Incremental stock-based compensation expense     $ 100   $ 100    
Repriced Options | 2018 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Options outstanding 6,628,589            
Vested Repricing Option              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Incremental stock-based compensation expense $ 800            
Unvested Repriced Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Incremental stock-based compensation expense $ 500            
Stock Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Options outstanding     7,168,303   7,168,303   5,102,501
Common Stock              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Repurchase of shares   7,500,000 (298,385)   298,385    
Shares repurchase value         $ 300