Property and Equipment, Net - Balances (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 10,880	$ 18,253
Less: accumulated depreciation	(9,657)	(15,891)
Total property and equipment, net	1,223	2,362
Laboratory equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	46	7,474
Office equipment and furniture
Property, Plant and Equipment [Line Items]
Property and equipment, gross	2,089	2,034
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 8,745	$ 8,745