Income Taxes - Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating losses	$ 113,981	$ 106,055
R&D capitalization	40,380	0
Tax credit carryforwards	21,429	12,424
Stock-based compensation	6,522	5,018
Accrued expenses	3,340	1,874
Lease liabilities	3,096	3,698
Capitalized licenses	3,077	2,775
Deferred revenue	1,062	1,076
Depreciation	437	493
Other	116	71
Total gross deferred tax assets	193,440	133,484
Valuation allowance	(190,588)	(130,051)
Net deferred tax assets less valuation allowance	2,852	3,433
Deferred tax liabilities
Right-of-use assets	(2,852)	(3,433)
Total gross deferred tax liabilities	(2,852)	(3,433)
Net deferred taxes	$ 0	$ 0