Accrued Liabilities - Schedule of Accrued Compensation and Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Accrued compensation:
Accrued bonuses	$ 16,455	$ 13,814
Accrued paid time off	4,794	4,429
Accrued payroll	5,113	2,888
Total accrued compensation	26,362	21,131
Accrued expenses and other current liabilities:
Accrued research and development services	8,733	3,419
Accrued professional fees	1,158	1,971
Accrued property and equipment	1,790	2,566
Other accrued current liabilities	2,866	2,388
Total accrued expenses and other current liabilities	$ 14,547	$ 10,344