Commitments and Contingencies - Additional Information (Details)		1 Months Ended		12 Months Ended
	Aug. 07, 2020 USD ($) ft²	Aug. 31, 2022 ft²	Jun. 30, 2021 ft²	Dec. 31, 2022 USD ($) ft²	Dec. 31, 2021 USD ($)
Commitments And Contingencies [Line Items]
Operating lease right-of-use assets | $				$ 22,072,000	$ 24,445,000
Operating lease liabilities | $				22,611,000
Sublease income | $				$ 1,239,000
Weighted-average remaining lease term				7 years 4 months 24 days	8 years
Weighted-average discount rate				11.00%	10.70%
Cash collateral of operation leases recorded as restricted cash | $				$ 1,565,000	$ 1,565,000
Maximum
Commitments And Contingencies [Line Items]
Potential future milestone payments | $				$ 2,000,000.0
Chesapeake Master Lease
Commitments And Contingencies [Line Items]
Operating lease, area of property available	71,646
Operating lease, area of property, additional space available	45,690
Operating lease, area of property, extension space available	25,956		25,956
Operating lease, initial term of contract	10 years
Operating lease, option to extend	true
Operating lease, extended additional term	8 years
Tenant improvement allowance | $	$ 4,800,000
Operating lease, area of property subleased	10,000
Operating lease, area of property, additional space remaining			35,690
Sublease, area of property leased	10,000	11,655
Sublease expiration date	Aug. 31, 2022			Jul. 31, 2023
Sublease, area of property expected to be leased				10,500
Increase decrease in operating lease sublease area of property leased		13,743
Operating sublease, option to extend, description				The subtenant has an early termination option with the early termination date no earlier than September 30, 2024, and no option to extend the sublease term.
Operating sublease, option to extend		false
Sublease income | $				$ 800,000	$ 900,000
Chesapeake Master Lease | Maximum
Commitments And Contingencies [Line Items]
Sublease expiration date		Sep. 30, 2024