Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Accrued research and development	$ 6,451	$ 8,190
Accrued severance	3,027	1,463
Accrued clinical trial	2,462	1,473
Lease liabilities, current portion	1,752	1,521
Accrued compensation	1,242	2,519
Accrued professional and consulting fees	866	390
Accrued property, plant and equipment	112	2,081
Other	690	650
Total accrued expenses and other current liabilities	$ 16,602	$ 18,287