Income Taxes - Schedule of Reconciliation of Statutory Federal Income Tax to Effective Tax (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Income tax provision at statutory rate	$ (33,011)	$ (33,128)	$ (8,370)
State income taxes, net of federal benefit	(3,280)	(3,104)	(826)
Change in valuation allowance	22,731	37,792	8,720
Stock-based compensation	101	(716)	(621)
Convertible debt	9,556
Research and development tax credits	2,439	(1,210)	(1,442)
Change in fair value of warrants	10	21	326
Derivative liability and extinguishment of debt			545
Return-to-provision adjustments	318	308	1,261
Other	1,236	37	407
Total current income tax provision	$ 100	$ 0	$ 0