Income Taxes - Reconciliation Between Federal Statutory Tax Rate and Effective Tax Rate (Details)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Statutory federal tax rate	21.00%	21.00%	21.00%
Permanent items	0.00%	(1.00%)	0.00%
State income taxes, net of federal benefit	1.00%	4.00%	4.00%
R&D and other tax credits	3.00%	4.00%	2.00%
Foreign income taxes	0.00%	(1.00%)	1.00%
Change in valuation allowance	(22.00%)	(27.00%)	(32.00%)
Change in Irish trading status	0.00%	0.00%	4.00%
Stock-based compensation	(2.00%)	0.00%	0.00%
Other	(1.00%)	0.00%	0.00%
Effective tax rate	0.00%	0.00%	0.00%

Effective Income Tax Rate Reconciliation, Change in Foreign Trading Status, Percent

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The portion of the difference between the effective income tax rate and domestic federal statutory income tax rate attributable to permanent items.

+ References

No definition available.

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 12
-URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

+ References

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to statutory income tax expense (benefit) outside of the country of domicile.

+ References

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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under share-based payment arrangement.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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