Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Federal operating loss carryforwards	$ 254,500
State operating loss carryforwards	218,000
Foreign operating loss carryforwards	1,300
Federal loss carryforwards	248,100
Research and development credit carryforwards	$ 22,210	$ 12,930
Operating loss and research and development credit carryforwards, limitations on use	These ownership changes may limit the amount of NOL and credit carryforwards that can be utilized to offset future taxable income and income tax, respectively. In general, an “ownership change” as defined by the tax code results from a transaction or series of transactions over a three-year period resulting in an ownership change of more than 50 percent of the outstanding stock of a company by certain stockholders or public groups. During 2020, the Company completed a study to assess whether an ownership change within the meaning of Section 382 had occurred for the time period prior to July 15, 2020.
Cumulative change in ownership percentage	50.00%
Decreases in unrecognized tax benefits	$ 0	0	$ 0
Accrual for interest or penalties	0	0
Recognized interest and penalties	$ 0	0
Federal
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards, future taxable income, offset percentage	80.00%
Research and development credit carryforwards	$ 8,800	$ 6,100	$ 12,500
Research and development credit carryforwards, begin to expire	2030
State
Operating Loss Carryforwards [Line Items]
State operating loss carryforwards	$ 500