Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating losses	$ 69,915	$ 78,525
Credits	14,806	11,895
Deferred revenues	1,123	1,490
Stock-based compensation	4,967	3,946
Reserves and accruals	2,487	2,928
Depreciation	0	514
Intangible assets	866	1,356
Capital losses	413	26
R&D Capitalization	16,502	0
Unrealized gain/loss	1	418
Lease liability	9,586	11,206
Other assets	124	122
Total deferred tax assets:	120,790	112,426
Valuation allowance	(111,183)	(101,762)
Deferred tax liabilities:
Right-of-use assets	(8,624)	(10,373)
Property and Equipment	(736)	0
Other	(263)	(314)
Total deferred tax liabilities:	(9,623)	(10,687)
Net deferred tax liabilities	$ (16)	$ (23)