Leases - Narrative (Details) ft² in Thousands, $ in Millions	3 Months Ended
	Mar. 31, 2023 USD ($)	Mar. 31, 2022 USD ($)	Dec. 31, 2022	Sep. 30, 2021 USD ($) ft²	May 31, 2021 ft²
Lessee, Lease, Description [Line Items]
Operating lease cost	$ 2.1	$ 2.5
Variable lease cost	$ 1.4	1.3
Weighted average remaining lease term of operating leases	7 years 6 months		7 years 9 months 18 days
Operating lease, weighted average discount rate (as a percent)	8.50%		8.50%
South San Francisco, California
Lessee, Lease, Description [Line Items]
Rentable area | ft²					11
Sublease income	$ 0.2	0.2
Affiliated Entity | Sublease with Sonoma
Lessee, Lease, Description [Line Items]
Rentable area | ft²				18
Sublease income	$ 0.5	$ 0.5
Tenant improvements				$ 4.6