Balance Sheet Components - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Research and development expenses	$ 10,381	$ 11,321
Insurance related expenses	1,199	2,788
Value added tax receivable	3,066	2,557
Other	3,127	3,271
Prepaid expenses and other current assets	$ 17,773	$ 19,937