Income Taxes - Schedule of Significant Components of Net Deferred Income Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred Tax Assets:
Federal net operating loss carryforwards	$ 32,320	$ 25,957
State net operating loss carryforwards	8,835	6,651
Research and development credit carryforwards	17,581	14,611
Lease liabilities	4,011	4,285
Deferred revenue	16,315	27,130
Accruals and reserves, stock and other	10,350	5,156
Capitalized Research and Development	36,435	0
Total deferred tax assets	125,847	83,790
Valuation allowance	(120,096)	(77,990)
Deferred tax assets	5,751	5,800
Fixed and intangible assets	(2,187)	(1,941)
Right-of-use assets	(3,564)	(3,859)
Net deferred tax asset	$ 0	$ 0