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Income Taxes - Textual (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes [Line Items]
Increase (decrease) in valuation allowance	$ 700,000
Valuation allowance	29,914,000	$ 29,236,000
Research and development credits	56,717,000	52,538,000
Unrecognized tax benefits	29,215,000	$ 25,992,000	$ 23,516,000
Unrecognized tax benefits that would impact effective tax rate	15,300,000
Accrued interest or penalties for uncertain income tax	0
U.S. Federal
Income Taxes [Line Items]
Operating loss carryforward	205,200,000
Research and development credits	40,700,000
State
Income Taxes [Line Items]
Operating loss carryforward	24,000,000
California State
Income Taxes [Line Items]
Research and development credits	47,000,000
Other State
Income Taxes [Line Items]
Research and development credits	$ 2,700,000

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Income Taxes [Line Items]

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Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

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