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Income Taxes - Net Loss before Income Tax Based on Jurisdictions (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Income Tax Contingency [Line Items] |  |
Net loss before income tax | $ (120,408) | $ (92,945)
Federal | United States |  |
Income Tax Contingency [Line Items] |  |
Net loss before income tax | (47,049) | (11,222)
Foreign | Germany |  |
Income Tax Contingency [Line Items] |  |
Net loss before income tax | (67,448) | (78,869)
Foreign | Foreign |  |
Income Tax Contingency [Line Items] |  |
Net loss before income tax | $ (5,911) | $ (2,854)

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