Leases - Narrative (Details) ft² in Thousands, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)	Dec. 31, 2022	Sep. 30, 2021 USD ($) ft²	May 31, 2021 ft²
Lessee, Lease, Description [Line Items]
Operating lease cost	$ 2,300	$ 2,200	$ 4,400	$ 4,700
Variable lease cost	$ 1,400	1,200	$ 2,800	2,500
Weighted average remaining lease term of operating leases	7 years 3 months 18 days		7 years 3 months 18 days		7 years 9 months 18 days
Operating lease, weighted average discount rate (as a percent)	8.50%		8.50%		8.50%
South San Francisco, California
Lessee, Lease, Description [Line Items]
Rentable area | ft²							11
Sublease income	$ 200	200	$ 400	400
Related Party
Lessee, Lease, Description [Line Items]
Rentable area | ft²						18
Related Party | Sonoma
Lessee, Lease, Description [Line Items]
Rentable area | ft²						18
Sublease income	$ 464	$ 466	$ 930	$ 931
Tenant improvements						$ 4,600