Income Taxes - Deferred Income Tax (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets
Net operating loss carryforwards	$ 155,153	$ 140,581
Research and development tax credits	10,406	9,149
Reserves and accruals	7,091	6,004
Operating lease liability	1,868	2,615
Capitalized §174 Costs	4,476	0
Share-based compensation	8,157	1,406
Other	5,277	4,109
Total deferred tax assets	192,428	163,864
Less: Valuation allowance	(191,051)	(161,487)
Net deferred tax assets	1,377	2,377
Deferred tax liabilities
Right-of-use assets	(1,377)	(2,377)
Total deferred tax liabilities	(1,377)	(2,377)
Net deferred tax assets	$ 0	$ 0