Leases - Narrative (Details) ft² in Thousands, $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2022 USD ($)	Sep. 30, 2021 USD ($) ft²	Sep. 30, 2022 USD ($)	Sep. 30, 2021 USD ($) ft²	Dec. 31, 2021	May 31, 2021 ft²
Lessee, Lease, Description [Line Items]
Operating lease cost	$ 2.3	$ 2.4	$ 7.0	$ 7.1
Variable lease cost	$ 1.3	1.4	$ 3.8	3.7
Weighted average remaining lease term of operating leases	8 years		8 years		8 years 9 months 18 days
Operating lease, weighted average discount rate (as a percent)	8.50%		8.50%		8.40%
South San Francisco, California
Lessee, Lease, Description [Line Items]
Rentable area | ft²						11
Sublease income	$ 0.2	$ 0.1	$ 0.6	$ 0.1
Affiliated Entity | Sublease with Sonoma
Lessee, Lease, Description [Line Items]
Rentable area | ft²		18		18
Sublease income	$ 0.5	$ 0.2	$ 1.4	$ 0.2
Tenant improvements		$ 4.6		$ 4.6