Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Federal and state net operating loss carryforwards	$ 75,795	$ 73,802
Research and development tax credits	22,721	21,717
Depreciation and amortization	3,627	394
Reserves and accruals	84	96
Other	510	449
Total deferred tax assets	102,737	96,458
Less: valuation allowance	(102,737)	(96,458)
Deferred tax liability:
Net deferred tax assets and liability	$ 0	$ 0