Commitments - Additional Information (Details)	1 Months Ended			12 Months Ended
	Nov. 30, 2022 ft²	Apr. 30, 2018 ft²	May 31, 2015 ft²	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Lessee Lease Description [Line Items]
Contingency losses, accrued | $				$ 0	$ 0
Change in accounting principle, ASU, adoption date				Jan. 01, 2022
Change in accounting principle, ASU, transition option elected [Extensible Enumeration]				us-gaap:AccountingStandardsUpdate201602RetrospectiveMember
Lease expiration period			2022-05
Additional laboratory and office facilities under lease | ft²		6,378
Increased of leased premises | ft²		36,754
Lessee operating lease extended lease term		2026-11
Lease existence of option to extend	true		true
Lessee operating lease option to extend	6 months		5 years
Lease termination term	2025-07
Operating lease expense | $				$ 1,700,000
Rent expense | $				2,200,000	$ 2,300,000
Cash paid for operating lease liabilities | $				$ 2,100,000
Operating lease, weighted average remaining lease term				3 years 7 months 13 days
Operating lease, weighted average discount rate, percent				8.24%
South San Francisco and California
Lessee Lease Description [Line Items]
Laboratory and office facilities under lease | ft²			30,376
Additional office facilities under lease | ft²	13,232