Stockholders' Equity - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Class Of Stock [Line Items]
Stock-based compensation	$ 3,842	$ 12,298	$ 7,474	$ 16,941
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	1,398	1,154	2,698	2,109
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 2,444	$ 11,144	$ 4,776	$ 14,832