Income Taxes - Schedule of Gross Operating Loss Carryforwards and Tax Credit Carryforwards (Details) $ in Thousands	Jun. 30, 2022 USD ($)
Federal
Operating loss carryforwards:
Loss carryforwards	$ 42,012
Foreign
Tax credit carryforwards:
Tax credit carryforwards	3,540
Operating loss carryforwards:
Loss carryforwards	15,608
Loss carryforwards, Indefinite	38,600
State
Tax credit carryforwards:
Tax credit carryforwards	15,632
Tax credit carryforwards, Indefinite	39,243
Operating loss carryforwards:
Loss carryforwards	182,178
Loss carryforwards, Indefinite	25,899
Federal research and development credits | Federal
Tax credit carryforwards:
Tax credit carryforwards	$ 83,063