Summary of Significant Accounting Policies - Liquidity (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounting Policies [Abstract]
Net income (loss)	$ (65,678)	$ (107,659)	$ (18,114)
Net cash used in operating activities	(26,531)	(34,412)	(2,479)
Accumulated deficit	(344,629)	(278,951)
Cash and cash equivalents	46,772	71,784	$ 27,344
Short-term investments	$ 132,853	$ 175,490