Income Taxes - Effective Income Tax Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Effective Income Tax Rate Reconciliation, Amount
Expected tax at 21%	$ (49,892)	$ (34,941)	$ (24,802)
State income tax, net of federal tax	(4,222)	(931)	273
Research credits	(12,558)	(6,938)	(4,025)
Share-based compensation	1,245	(3,307)	(1,718)
Other	(2,799)	939	146
Section 162(m) limitations	3,950	3,982	2,956
Change in valuation allowance	63,807	40,899	27,614
Total provision for income taxes:	$ (469)	$ (297)	$ 444
Effective Income Tax Rate Reconciliation, Percent
Expected tax at 21%	21.00%	21.00%	21.00%
State income tax, net of federal tax	1.80%	0.60%	(0.30%)
Research credits	5.30%	4.20%	3.40%
Share-based compensation	(0.50%)	2.00%	1.50%
Other	1.20%	(0.60%)	(0.10%)
Section 162(m) limitations	(0.017)	(0.024)	(0.025)
Change in valuation allowance	(26.90%)	(24.60%)	(23.40%)
Provision for income taxes	0.20%	0.20%	(0.40%)