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Leases - Additional Information (Details)
$ in Thousands
 1 Months Ended 3 Months Ended 9 Months Ended
Sep. 30, 2023
USD ($)
May 31, 2021
ft²
Apr. 30, 2021
USD ($)
Oct. 31, 2020
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Dec. 31, 2022
Lessee Lease Description [Line Items]                  
Sublease rent income           $ 134 $ 134 $ 403  
Variable lease expense         $ 152 130 $ 400 393  
Weighted-average remaining lease term 4 years 7 months 6 days       4 years 7 months 6 days   4 years 7 months 6 days   5 years 3 months 18 days
Weighted-average discount rate 7.87%       7.87%   7.87%   7.86%
Cash paid for measurement of lease liabilities             $ 800    
Arsenal Way Lease                  
Lessee Lease Description [Line Items]                  
Lessee, operating lease, commencement month and year     2021-04            
Lessee operating lease, renewal term     5 years            
Lessee, operating lease, initial term     7 years            
Lessee, operating lease, option to extend             The lease has an initial term from the rent commencement date, which is a month after the lease commencement date, of approximately seven years, with an option to extend the term for an additional five years at then-market rental rates.    
Lessee, Operating Lease, Existence of Option to Extend [true false]     true            
Letter of credit     $ 300            
Tenant improvements cost     700            
Base rent     $ 1,000            
Annual rent increase percentage     3.00%            
Rentable square feet | ft²   6,330              
Sublease expiration, month and year   2023-03              
Sublease rent income           $ 200 $ 200 $ 600  
Lund, Sweden                  
Lessee Lease Description [Line Items]                  
Lessee, operating lease, commencement month and year       2020-10          
Lessee, operating lease, expiration month and year       2023-09          
Lessee, operating lease, lease not yet commenced, initial term 3 years       3 years   3 years    
Lessee, operating lease, lease not yet commenced, option to extend [true false] true                
Lessee, operating lease, lease not yet commenced, renewal term 3 years       3 years   3 years    
Aggregate estimated undiscounted rental payments $ 500                
Lessee operating lease, renewal term       3 years          
Lessee, Operating Lease, Existence of Option to Extend [true false]       true