Balance Sheet Accounts and Supplemental Disclosures - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 10,093		$ 10,093		$ 10,093
Less: accumulated depreciation	7,039		7,039		6,112
Property and equipment, net	3,054		3,054		3,981
Depreciation and amortization expense	500	$ 500	928	$ 912
Office equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 1,097		$ 1,097		1,097
Office equipment | Minimum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	3 years		3 years
Office equipment | Maximum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	7 years		7 years
Computer equipment
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	5 years		5 years
Total property and equipment	$ 123		$ 123		123
Software
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	3 years		3 years
Total property and equipment	$ 130		$ 130		130
Lab equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 6,181		$ 6,181		6,098
Lab equipment | Minimum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	2 years		2 years
Lab equipment | Maximum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	5 years		5 years
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 2,562		$ 2,562		2,562
Leasehold improvements | Minimum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	6 years		6 years
Leasehold improvements | Maximum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	7 years		7 years
Construction in process
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 0		$ 0		$ 83