Income Taxes - Reconciliation of Income Taxes Computed by Applying Statutory Federal Income Tax Rate (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Income tax expense (benefit) at statutory rates	$ (36,539,000)	$ (24,784,000)	$ (9,315,000)
State income tax, net of federal benefit	(11,821,000)	(7,868,000)	(3,004,000)
Permanent items	1,078,000	210,000	1,000
Reserve for uncertain tax positions	2,583,000	1,170,000	398,000
Research and development tax credits	(9,983,000)	(4,792,000)	(1,639,000)
Valuation allowance	54,093,000	35,326,000	13,488,000
Other	589,000	738,000	71,000
Income tax expense (benefit)	$ 0	$ 0	$ 0