Income Taxes - Schedule of NOLs and Tax Credit Carryforwards (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($)
Operating Loss Carryforwards [Line Items]
NOLs carried forward to offset taxable income for 2022 and thereafter	80.00%
Federal | NOL, Indefinite Expiration
Operating Loss Carryforwards [Line Items]
NOL carryforwards	$ 309,325
Federal | NOL, Expire in 2031
Operating Loss Carryforwards [Line Items]
NOL carryforwards	108,165
Federal | NOL, Expire in 2031 | R&D Credit Carryforwards
Operating Loss Carryforwards [Line Items]
Tax credit carryforwards	$ 9,503
Federal | Earliest Tax Year
Operating Loss Carryforwards [Line Items]
NOL, expiration date	2031
Tax credit carryforward, expiration date	2031
Federal | Latest Tax Year
Operating Loss Carryforwards [Line Items]
NOL, expiration date	2037
Tax credit carryforward, expiration date	2042
State | NOL, Indefinite Expiration
Operating Loss Carryforwards [Line Items]
NOL carryforwards	$ 14,725
State | NOL, Indefinite Expiration | R&D Credit Carryforwards | California
Operating Loss Carryforwards [Line Items]
Tax credit carryforwards	6,548
State | NOL, Expire in 2026
Operating Loss Carryforwards [Line Items]
NOL carryforwards	$ 96,361
State | Earliest Tax Year
Operating Loss Carryforwards [Line Items]
NOL, expiration date	2026
State | Latest Tax Year
Operating Loss Carryforwards [Line Items]
NOL, expiration date	2042