Commitment and Contingencies - Narrative (Details)		1 Months Ended	12 Months Ended
	Mar. 04, 2022 USD ($)	Jun. 30, 2022	Dec. 31, 2022 USD ($) Lease	Dec. 31, 2021 USD ($)	Jan. 31, 2022 USD ($) ft²	Feb. 28, 2019 ft²
Loss Contingencies [Line Items]
Operating lease right-of-use assets			$ 11,650,000	$ 3,051,000
Present value of operating lease obligations			11,743,000
Amount covered by insurance	$ 15,000,000
Legal settlement			$ 0	15,000,000
Letter of Credit
Loss Contingencies [Line Items]
Borrowing capacity					$ 368,000
South San Francisco, California
Loss Contingencies [Line Items]
Term of contract						5 years
Area of property (in sqft) | ft²						9,780
Expiration date		Jan. 31, 2023	Feb. 29, 2024
Operating lease right-of-use assets			$ 11,650,000	3,051,000
Present value of operating lease obligations			11,744,000	3,468,000
Rent expense			$ 1,445,000	$ 1,039,000
Ann Arbor, Michigan
Loss Contingencies [Line Items]
Term of contract			1 year 2 months 12 days
Number of non-cancelable lease agreements | Lease			2
Brisbane, California
Loss Contingencies [Line Items]
Term of contract					8 years
Area of property (in sqft) | ft²					20,116