Revenue - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Collaboration revenue	$ 2,368,000	$ 207,000	$ 0
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	39,963,000	47,474,000
Accounts Receivable From Collaborative Agreement
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	$ 0	$ 11,000,000.0