Income Taxes - Summary of Total Deferred Income Tax Assets, Net of Valuation Allowance (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets
Net operating loss carryforwards	$ 225,924	$ 157,277
Capitalized research expenditures	48,767	0
Research and development credits	35,906	33,341
Accruals and reserves	6,839	3,889
Stock-based compensation	6,341	4,932
Lease liability	13,403	10,854
Gross deferred tax assets	337,180	210,293
Less: valuation allowance	(328,553)	(203,516)
Deferred tax assets, net of valuation allowance	8,627	6,777
Deferred tax liabilities
Fixed and intangible assets	378	84
Right-of-use asset	8,249	6,693
Gross deferred tax liabilities	8,627	6,777
Net deferred tax assets	$ 0	$ 0