Income Taxes - Deferred Income Tax Asset (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Components of Deferred Tax Assets [Abstract]
Net operating loss carryforwards	$ 107,296	$ 101,863
Research and development tax credit carryforwards	6,694	5,444
Capitalized research and development expenses	16,004	1,760
Lease liabilities	1,016	1,243
Other	3,604	3,372
Total deferred tax assets	134,614	113,682
Valuation allowance	(133,112)	(111,835)
Deferred tax assets, net of valuation allowance	1,502	1,847
Right of use assets	1,502	1,847
Total deferred tax liabilities	1,502	1,847
Total deferred tax assets, net	$ 0	$ 0