Leases - Additional Information (Details) $ in Millions		1 Months Ended			12 Months Ended
	Nov. 30, 2021	Nov. 30, 2021	Dec. 31, 2019 USD ($) ft²	Jan. 31, 2018 USD ($) ft²	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Jun. 30, 2022 USD ($)
Lessee, Lease, Description [Line Items]
Cash paid for amounts included in measurement of operating lease liabilities					$ 6.8	$ 1.7	$ 1.2
Cash received for amounts related to tenant improvement allowances from lessors					$ 1.3	$ 12.9	$ 0.2
Operating lease, weighted-average remaining lease term					9 years 3 months 18 days
Operating lease, weighted-average discount rate					8.50%
2019 San Carlos Lease Agreement
Lessee, Lease, Description [Line Items]
Operating lease agreement initiation period			2019-12
Base term of lease			10 years 3 months
Lessee operating lease expected termination Period			2031-10
Lease term extension period			5 years
Area of office and laboratory space | ft²			98,000
Security deposit in the form of letter of credit secured by restricted cash					$ 1.5
2019 San Carlos Lease Agreement | Maximum
Lessee, Lease, Description [Line Items]
Tenant improvement allowance			$ 14.7
2018 Redwood City Lease Agreement
Lessee, Lease, Description [Line Items]
Operating lease agreement initiation period				2018-01
Base term of lease				10 years 9 months
Lease termination date		2021-11
Lessee operating lease expected termination Period				2029-07
Area of office and laboratory space | ft²				25,000
Tenant improvement allowance				$ 1.4
Early lease termination payment receivable								$ 1.1
Security deposit in the form of letter of credit secured by restricted cash								$ 0.8
2018 Redwood City Lease Agreement | Lease Termination Agreement
Lessee, Lease, Description [Line Items]
Lease termination date	Apr. 30, 2022