Stockholders' Equity - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Class Of Stock [Line Items]
Stock-based compensation	$ 3,588	$ 4,366	$ 11,062	$ 21,307
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	1,427	1,267	4,125	3,376
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 2,161	$ 3,099	$ 6,937	$ 17,931