Balance Sheet Components - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Reductions in Research and Development Expense	$ 0	$ 400
Consignment equipment	100
Australia research and development refundable tax credit	472		$ 1,003
Prepaid expenses and other current assets	2,288		$ 3,567	[1]
Novosteo
Restructuring Cost and Reserve [Line Items]
Australia research and development refundable tax credit	500
Prepaid expenses and other current assets	$ 500

[1] The balance sheet as of December 31, 2022 is derived from the audited financial statements as of that date.