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Balance Sheet Details - Schedule of Accounts Payable and Accrued Expenses (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022
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Balance Sheet Related Disclosures [Abstract] |  |
Accounts payable | $ 6,293 | $ 4,231
Accrued compensation | 2,967 | 3,451
Accrued research and development | 24,204 | 12,649
Other accrued expenses | 542 | 1,279
Total | $ 34,006 | $ 21,610

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