Supplemental Financial Information - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Balance Sheet Related Disclosures [Abstract]
Accrued research and development	$ 8,190	$ 11,895
Accrued compensation	2,519	7,703
Accrued property, plant, and equipment	2,081	2,644
Accrued clinical trial	1,473	1,659
Accrued severance	1,463
Lease liabilities, current portion	1,521
Accrued professional and consulting fees	390	1,091
Accrued license fees		3,500
Other	650	1,491
Total accrued expenses and other current liabilities	$ 18,287	$ 29,983