Income Taxes - Schedule of Tax Effects of Temporary Differences and Carryforwards of Significant Portions of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating loss carryforwards	$ 91,036	$ 62,322	$ 35,943
Research and development credits	3,077	5,120	3,910
Accruals and reserves	3,067	13,597	2,986
Lease liability	1,574	1,690
Stock-based compensation	2,559	565	589
Interest expense carryforward	60
Research and development capitalization	3,695
Total deferred tax assets	105,068	83,294	43,428
Valuation allowance	(102,957)	(80,226)	(42,435)
Deferred tax assets after valuation allowance	2,111	3,068	993
Deferred tax liabilities:
Depreciation and amortization	(736)	(1,429)	(993)
Right-of-use asset	(1,375)	(1,639)
Total deferred tax liabilities	(2,111)	(3,068)	(993)
Net deferred tax assets	$ 0	$ 0	$ 0