Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss	$ 20,963	$ 63,868
Accrued bonus	806	1,811
Tax credits	26,319	19,614
Stock-based compensation	13,351	9,656
Deferred revenue	67,673	27,849
Lease liability	10,055	11,296
Section 174 R&D capitalization	35,150	0
Other	1,608	694
Gross deferred tax assets	175,925	134,788
Less valuation allowance	(164,316)	(122,046)
Total deferred tax assets	11,609	12,742
Deferred tax liabilities:
Depreciation and amortization	(5,155)	(5,488)
Right-of-use assets	(6,454)	(7,254)
Gross deferred tax liabilities	(11,609)	(12,742)
Deferred tax assets, net	$ 0	$ 0