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Income Taxes - Schedule of Deferred Income Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Components of Deferred Tax Assets and Liabilities [Abstract] |  |
Net operating loss carryforwards | $ 58,193 | $ 49,070
Research and development credits | 24,700 | 20,809
Lease liability | 3,802 | 4,555
Intangible assets | 3,708 | 3,804
Deferred revenue | 49,919 | 60,285
Accrued liabilities | 1,504 | 1,933
Stock-based compensation | 8,066 | 7,480
Sec 174 capitalized research and development costs | 19,709 |
Other | 31 | 29
Total gross deferred income tax assets | 169,632 | 147,965
Less: valuation allowance | (166,037) | (143,355)
Deferred tax assets, net of valuation allowance | 3,595 | 4,610
Fixed assets | (43) | (253)
Right-of-use assets | (3,358) | (4,069)
Prepaid expenses | (194) | (288)
Deferred tax liabilities | (3,595) | (4,610)
Net deferred income tax liabilities | $ 0 | $ 0

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