Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Taxes [Line Items]
Increase/decrease in valuation allowance	$ 158,900,000	$ (114,200,000)	$ 74,100,000
Unrecognized tax benefit	$ 10,638,000	7,422,000	4,877,000	$ 2,725,000
Unrecognized tax benefits, if recognized, would reduce effective tax rate	0.70%
Interest and penalties expense related to uncertain tax positions	$ 0	$ 0	$ 0
Interest and penalties accrued related to uncertain tax positions	0
Federal
Income Taxes [Line Items]
Net operating loss carryforwards	$ 20,900,000
Net operating loss carryforwards expiration beginning year	2037
Tax credit carryforwards	$ 400,000
Federal | Research Tax Credit Carryforward
Income Taxes [Line Items]
Net operating loss carryforwards expiration beginning year	2036
State
Income Taxes [Line Items]
Net operating loss carryforwards	$ 111,400,000
Net operating loss carryforwards expiration beginning year	2031
Tax credit carryforwards	$ 15,900,000
Foreign | Swiss Federal Tax Administration (FTA)
Income Taxes [Line Items]
Net operating loss carryforwards	0
Foreign | Australian Taxation Office
Income Taxes [Line Items]
Net operating loss carryforwards	$ 10,600,000