Income Taxes - Components of the Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Operating loss carryforwards	$ 94,356	$ 90,550
Tax credit carryforwards	29,988	28,226
Stock-based compensation	4,959	6,902
Capitalized research and development	11,287	7,818
Lease liabilities	141	220
Other	459	70
Total deferred tax assets	141,190	133,786
Deferred tax liabilities:
Right-of-use asset	(134)	(213)
IPR&D intangible assets	(15,312)
Total deferred tax liabilities	(15,446)	(213)
Valuation allowance	(129,027)	$ (133,573)
Net deferred tax assets (liabilities)	$ (3,283)