Income Taxes - Schedule of Net Deferred Tax Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 102,723	$ 88,327
Research and development tax credit carryforwards	5,674	7,672
Stock-based compensation expense	14,321	11,748
Startup costs	588	697
Intangible assets	3,905	4,471
Deferred revenue	1,135	1,103
Unicap	6	6
Imputed interest on contingent payments	5,654	4,410
Legal fee capitalization and amortization	1,342	1,550
Capitalized research and development	19,318
Other	3,121	1,535
Total deferred tax assets	157,787	121,519
Deferred tax liabilities:
In-process research and development	(27,271)	(29,232)
Total deferred tax liabilities	(27,271)	(29,232)
Valuation allowance	(130,525)	(92,297)
Net deferred tax liabilities	$ (9)	$ (10)