Income Taxes - Schedule of Net Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carry forward	$ 59,613	$ 38,933
Tax credits	11,473	5,681
Intangible	3,718	3,147
Other	923	143
Stock-based compensation	2,759	3,482
Lease liability	1,912	2,824
Research and development costs	20,091	0
Accruals and reserves	1,190	537
Total deferred tax assets before valuation allowance	101,679	54,747
Valuation allowance	(99,711)	(51,832)
Total deferred tax assets	1,968	2,915
Deferred tax liabilities:
Right of use assets	(1,899)	(2,812)
Fixed assets	(69)	(103)
Total deferred tax liabilities	(1,968)	(2,915)
Net deferred tax assets (liabilities)	$ 0	$ 0