Balance Sheet Details - Components of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Property Plant And Equipment [Line Items]
Property and equipment at cost	$ 7,633	$ 7,584
Less accumulated depreciation and amortization	(4,367)	(4,084)
Total	3,266	3,500
Leasehold Improvements
Property Plant And Equipment [Line Items]
Property and equipment at cost	3,516	3,516
Lab Equipment
Property Plant And Equipment [Line Items]
Property and equipment at cost	3,212	3,168
Office Equipment
Property Plant And Equipment [Line Items]
Property and equipment at cost	859	859
Computers and Software
Property Plant And Equipment [Line Items]
Property and equipment at cost	$ 46	$ 41