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Restructuring, Impairment and Related Charges - Schedule of Activity Related to Restructuring Liabilities Associated to Restructuring Initiatives (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Restructuring Cost and Reserve [Line Items]    
Restructuring liabilities, balance $ 6,826 $ 0
Reclassification of final payment obligation related to a manufacturing agreement that was recognized in the prior period (see Note 13) 0 2,185
Restructuring, impairment and related charges 3,369 22,662
Cash payments (8,905) (3,867)
Noncash activities 0 (13,825)
Restructuring liabilities, balance 1,290 $ 7,155
Accounts Payable    
Restructuring Cost and Reserve [Line Items]    
Restructuring liabilities, balance 896  
Restructuring liabilities, balance 98  
Accrued Compensation and Benefits    
Restructuring Cost and Reserve [Line Items]    
Restructuring liabilities, balance 41  
Restructuring liabilities, balance 143  
Accrued Research and Development Liabilities    
Restructuring Cost and Reserve [Line Items]    
Restructuring liabilities, balance 5,889  
Restructuring liabilities, balance $ 1,049