Prepaid Expenses and Other Assets and Accrued Expenses - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Research and development expenses	$ 24,271	$ 25,285
Insurance	1,216	2,472
Other	6,932	2,343
Total prepaid expenses and other current assets	$ 32,419	$ 30,100