Income Taxes - Schedule of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 51,884	$ 52,038
Capital loss carryforwards	7,298	7,298
Start-up costs	9,699	11,235
Accruals and reserves	629	448
Intellectual property	5,057	1,960
Stock-based compensation	2,709	2,064
Capitalization of research and development expense	10,379	0
Tax credits	6,655	4,350
Lease liabilities	1,029	461
Total deferred tax assets	95,339	79,854
Valuation allowance	(94,364)	(79,395)
Deferred tax assets, net of valuation allowance	975	459
Deferred tax liabilities:
Lease right-of-use assets	(975)	(459)
Net deferred tax assets	$ 0	$ 0