Stock-Based Compensation - Schedule of Stock Option Activity Under Equity Incentive Plans (Details) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Number of Shares
Outstanding, beginning balance (in shares) | shares	13,542
Options granted (in shares) | shares	6,276
Options exercised (in shares) | shares	(15)
Options forfeited and canceled (in shares) | shares	(5,715)
Outstanding, ending balance (in shares) | shares	14,088
Weighted- Average Exercise Price per Share
Outstanding, beginning balance (in dollars per share) | $ / shares	$ 23.62
Options granted (in dollars per share) | $ / shares	4.76
Options exercised (in dollars per share) | $ / shares	12.43
Options forfeited and canceled (in dollars per share) | $ / shares	20.73
Outstanding, ending balance (in dollars per share) | $ / shares	$ 16.40
Weighted- Average Remaining Contractual Life (in Years)
Weighted-Average Remaining Contractual Life, Outstanding	5 years 8 months 15 days
Aggregate Intrinsic Value, Outstanding | $	$ 0
Number of Shares, Exercisable (in shares) | shares	6,029
Weighted-Average Exercise Price Per Share, Exercisable (in dollars per share) | $ / shares	$ 27.82
Weighted-Average Remaining Contractual Life, Exercisable	3 years 7 months 6 days
Aggregate Intrinsic Value, Exercisable | $	$ 0