Stockholders' Equity - Summary of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands |
3 Months Ended | |
|---|---|---|
Mar. 31, 2024 |
Mar. 31, 2023 |
|
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | ||
| Stock-based compensation expense | $ 5,626 | $ 7,048 |
| Research and Development Expense | ||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | ||
| Stock-based compensation expense | 1,249 | 1,776 |
| Selling, General and Administrative Expense | ||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | ||
| Stock-based compensation expense | $ 4,377 | $ 5,272 |