Income Taxes - Reconciliation of Effective Rate (Details)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Income tax benefit using U.S. federal statutory rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	5.00%	4.70%	9.00%
Nondeductible expenses	(0.30%)	(0.10%)	(1.10%)
Tax law change	0.00%	0.20%	0.50%
Research credits	0.10%	1.00%	1.10%
Sale of Design Manager	(2.20%)	0.00%	0.00%
Stock-based compensation	(0.30%)	0.40%	(0.90%)
Change in the valuation allowance	(23.50%)	(27.20%)	(30.20%)
Other	0.00%	(0.10%)	0.50%
Income tax benefit (provision), net	(0.20%)	(0.10%)	(0.10%)

Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 12
-URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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-Publisher FASB
-Name Accounting Standards Codification
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-Subparagraph (SAB Topic 6.I.Fact.4)
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to disposition of a business not qualifying as a discontinued operation.

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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under share-based payment arrangement.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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