Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating losses	$ 100,417	$ 72,838
R&D credits	51,705	39,888
Equity compensation	6,919	1,368
Operating lease liabilities	6,520	4,219
Accrued expense and other	2,072	1,914
Deferred revenue	1,189	8,251
Capitalized R&D costs	868	1,039
Total deferred tax assets	169,690	129,517
Deferred tax liabilities:
Right-of-use assets	(4,252)	(1,611)
Depreciation	1,541	2,115
Other	503	757
Total deferred tax liabilities	(6,296)	(4,483)
Valuation allowance	(163,394)	(125,034)
Net deferred taxes	$ 0	$ 0