Debt - Additional Information (Details) - USD ($)			3 Months Ended		6 Months Ended
	May 09, 2023	Sep. 17, 2021	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022	Sep. 27, 2022
Debt Instrument [Line Items]
Term loans aggregate principal amount			$ 100,000,000		$ 100,000,000
Common stock, par value			$ 0.0001		$ 0.0001		$ 0.0001
Loan Agreement
Debt Instrument [Line Items]
Debt instrument, final payment fee or end of term charge		$ 7,500,000
Percentage of qualified cash prior to Third performance milestone		65.00%
Minimum percentage of qualified cash following third performance milestone		5.00%
Minimum market capitalization amount		$ 900,000,000
Percentage of debt funded to be issued as warrants to purchase common stock		2.50%
Warrants exercise price		$ 33.43
Warrants expire term		7 years
Warrants expiration date		Sep. 17, 2028
Fair value of warrants		$ 1,300,000
Debt issuance costs		$ 3,100,000
Loan Agreement | Common Stock
Debt Instrument [Line Items]
Warrants issued to purchase shares		74,782
Loan Agreement | Term Loan
Debt Instrument [Line Items]
Term loans aggregate principal amount		$ 200,000,000
Payment for facility charge		$ 1,250,000
Debt instrument, facility charge percentage		0.50%
Debt instrument, maturity date		Oct. 01, 2026
Loan Agreement | Term Loan | Floor Rate
Debt Instrument [Line Items]
Debt instrument interest rate		5.50%
Loan Agreement | Term Loan | Prime Rate
Debt Instrument [Line Items]
Debt instrument, basis spread on variable rate		2.25%
Loan Agreement | Term Loan | Payment In Kind PIK Interest Rate
Debt Instrument [Line Items]
Debt instrument, interest rate		3.35%
Loan Agreement | Term Loans, Aggregate Principal Amount Tranches One
Debt Instrument [Line Items]
Term loans aggregate principal amount		$ 100,000,000
Loan Agreement | Term Loans, Aggregate Principal Amount Tranches Two
Debt Instrument [Line Items]
Term loans aggregate principal amount			$ 50,000,000		$ 50,000,000
Debt instrument minimum per draw amountd			25,000,000		25,000,000
Loan Agreement | Term Loans, Aggregate Principal Amount Tranches Three
Debt Instrument [Line Items]
Term loans aggregate principal amount			25,000,000		25,000,000
Loan Agreement | Term Loans, Aggregate Principal Amount Tranches Four
Debt Instrument [Line Items]
Term loans aggregate principal amount			25,000,000		25,000,000
Loan Agreement | Term Loan Advance
Debt Instrument [Line Items]
Debt instrument, final payment fee percentage		7.50%
Debt instrument, final payment fee or end of term charge			7,500,000		7,500,000
Loan Agreement | Term Loan Advance | Maximum
Debt Instrument [Line Items]
Debt instrument, prepayment fee percentage of outstanding principal amount		1.25%
Hercules and SVB Term Loan
Debt Instrument [Line Items]
Term loans aggregate principal amount			106,200,000		106,200,000
Accrued interest			900,000		900,000
Hercules Loan Agreement
Debt Instrument [Line Items]
Interest expense			$ 4,200,000	$ 3,000,000	$ 8,200,000	$ 5,800,000
Amendment to Loan Agreement
Debt Instrument [Line Items]
Term loans aggregate principal amount								$ 50,000,000
Tranche extension amendment fee	$ 150,000
Covenant extension amendment fee	100,000
Amendment to Warrants
Debt Instrument [Line Items]
Term loans aggregate principal amount	$ 100,000,000
Percentage of debt funded to be issued as warrants to purchase common stock	2.50%
Warrants exercise price	$ 11.6783
Warrants expire term	7 years
Common stock, par value	$ 0.0001
Amendment to Warrants | Common Stock
Debt Instrument [Line Items]
Warrants issued to purchase shares	74,783