Stock-Based Compensation - Schedule of Stock Based Compensation Expense Recognized (Details) - USD ($) $ in Thousands		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Total stock-based compensation expense		$ 38,337	$ 22,362	$ 5,828
Research and Development Expense
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Total stock-based compensation expense		26,583	15,239	4,888
General and administrative
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Total stock-based compensation expense	[1]	$ 11,754	$ 7,123	$ 940

[1] During the year ended December 31, 2022 the Company recognized stock-based compensation expense of $1.9 million related to equity awards for employees impacted by the November 2022 restructuring.