Income Taxes - Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 85,918	$ 60,936
Research credits	8,897	6,694
Intangible assets	25,319	13,809
Other	6,517	3,996
Gross deferred tax assets	126,651	85,435
Less valuation allowance	(126,170)	(85,033)
Deferred tax assets, net of valuation allowance	481	402
Deferred tax liabilities:
Other	(481)	(402)
Net deferred tax assets	$ 0	$ 0