Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating losses	$ 131,346	$ 125,111
Research and development tax credits	18,122	16,670
Amortization	916	1,094
Lease liability	3,504	1,027
Stock based compensation	576	3,784
Other	378	254
Capitalized R&D	4,138
Fixed Assets	10
Total gross deferred tax assets	158,990	147,940
Less: valuation allowance	(155,514)	(146,933)
Total deferred tax assets	3,476	1,007
Deferred tax liability:
Right-of-use assets	(3,476)	(903)
Fixed assets	0	(104)
Total gross deferred tax liabilities	(3,476)	(1,007)
Net deferred tax assets	$ 0	$ 0