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Formation and Business of the Company - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Net loss	$ 16,640	$ 17,436	$ 19,128	$ 18,229	$ 17,310	$ 18,433	$ 53,204	$ 53,972
Cash used in operating activities							43,572	$ 48,436
Accumulated deficit	294,247						294,247		$ 241,043
Cash, cash equivalents, and marketable securities	$ 238,102						$ 238,102

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