Convertible Preferred Stock and Stockholders' Equity (Deficit) - Schedule of Stock-based Compensation Expense for All Equity Awards (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Stock-based compensation expense related to the ESPP	$ 21,694	$ 29,031
Research and Development Expense [Member]
Class Of Stock [Line Items]
Stock-based compensation expense related to the ESPP	8,123	2,710
General and Administrative [Member]
Class Of Stock [Line Items]
Stock-based compensation expense related to the ESPP	$ 13,571	$ 26,321