The 'problem' with PDF documents is that they are inherently not suitable for editing. Especially ones without fields. The best thing is to step back and look at your process and see if there is a way to replace the text before the PDF was generated. Obviously, you may not always have this freedom.
If you will be able to replace text, then you should be aware that there will be no automatic reflow of the text following the replaced text. Given that you are fine with that, then there are very few solutions that allows you to replace text.
I know that you are looking for an OpenSource solution so I feel reluctant to offer you a commercial solution. We offer one called PDFKit.NET. It allows you to extract all content on a page as so-called shapes (text, images, curves, etc.). See method Page.CreateShapes in the type reference. You can then programmatically navigate and edit this structure of shapes and then write it back to a PDF again.
Here it is:
http://www.tallcomponents.com/pdfkit
Disclosure: I am the founder of TallComponents, vendor of this component