Income Taxes - Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation between the amount of reported income tax and the amount computed using U.S. Statutory rate
Pre-tax loss	$ (112,325)	$ (70,738)	$ (60,947)
Loss at statutory rates	(23,588)	(14,855)	(12,799)
Research and development credits	(3,876)	(2,422)	(1,778)
State taxes	(9,606)	(7,082)	(5,802)
Other	11,421	(941)	(1,152)
Change in fair value remeasurement of contingent consideration	(1,441)	(295)	(886)
Expiration of NOLs and R&D credit	16,862	14,210	20,294
Change in valuation allowance	$ 10,228	11,158	956
Income tax (benefit) provision		$ (227)	$ (1,167)