Background and Organization - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Net loss	$ (107,330)	$ (110,048)	$ (107,908)
Net cash used in operations	(91,708)	(62,091)	(63,474)
Cash and cash equivalents	$ 142,495	$ 219,808	$ 158,180	$ 228,187