Income Taxes - Schedule of Significant Components of Net Deferred Tax Asset (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Components of Deferred Tax Assets [Abstract]
Net operating loss carryforwards	$ 45,609	$ 37,005
Tax credit carryforwards	23,216	14,813
Accruals and reserves	689	1,467
Other	1	103
Intangibles	4,607	4,169
Non-qualified stock options	3,647	674
R&E expenditures	15,563
Lease liabilities	4,574
Right-of-use asset impairments	5,525
Total deferred tax assets	103,431	58,231
Right-of-use assets	(2,308)
Fixed assets	(47)
Total deferred tax liabilities	(2,355)
Valuation allowance	(101,076)	(58,231)
Net deferred taxes	$ 0	$ 0