Income Taxes - Schedule of Income Tax Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Federal tax benefits at statutory rate	$ (19,523)	$ (14,887)
State taxes, net of federal benefit	(6,181)	(1,275)
Change in valuation allowance	24,828	17,751
Stock-based compensation tax deduction over book expense	131	(2,790)
Permanent differences	615	(47)
Research and development credits	(1,920)	(1,697)
Executive compensation limitations	2,405	2,806
Other	(355)	139
Total income tax expense	$ 0	$ 0