Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosures [Line Items]
Income tax benefit valuation allowance	$ 81,251,000	$ 94,062,000	$ 27,984,000
Cumulative change in ownership period	3 years
Unrecognized tax benefits that would impact effective tax rate	$ 0
Minimum
Income Tax Disclosures [Line Items]
Cumulative change in ownership, percentage	50.00%
Federal
Income Tax Disclosures [Line Items]
Net operating loss carryforwards	$ 842,600,000
Federal | Expire in 2025 through 2037
Income Tax Disclosures [Line Items]
Net operating loss carryforwards	156,500,000
Federal | Not Expire
Income Tax Disclosures [Line Items]
Net operating loss carryforwards	686,100,000
Federal | Research Tax Credit Carryforward | Begin to Expire in 2022
Income Tax Disclosures [Line Items]
Tax credit carryforward, Amount	54,200,000
State | Begin to Expire in 2028
Income Tax Disclosures [Line Items]
Net operating loss carryforwards	567,200,000
State | Research Tax Credit Carryforward | Not Expire
Income Tax Disclosures [Line Items]
Tax credit carryforward, Amount	$ 27,500,000
Levelset and LaborChart Acquisitions
Income Tax Disclosures [Line Items]
Income tax benefit valuation allowance		$ 24,200,000