Income Taxes - Schedule of Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax asset:
Federal and State net operating loss carryforwards	$ 49,481	$ 44,933
Stock based compensation	9,667	6,853
Other accruals	515	396
Tax credits	7,970	6,737
Gross deferred tax asset	70,727	58,919
Valuation allowance	(69,692)	(58,611)
Total deferred tax assets (liabilities)	(1,035)	308
Net deferred tax liabilities
Property and equipment	(11)	(5)
Capitalized leases	(32)	(303)
Gross deferred tax liabilities	(1,282)	(308)
Net deferred tax assets	$ (247)	$ 0