Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes [Line Items]
Interest and penalties accrued	$ 0
Reconciliation of the beginning and ending amount of gross unrecognized tax benefits
Balance at beginning of year	17,514	$ 11,500	$ 8,619
Additions based on tax positions related to the current year	6,301	6,017	2,889
Additions (reductions) for tax positions of prior years		(3)	(8)
Additions for tax positions of prior years	29
Balance at end of year	23,844	17,514	11,500
Research and development tax credit carryforward
Income Taxes [Line Items]
Unrecognized tax benefits increase	$ 6,300	$ 6,000	$ 2,900