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Organization and Operations - Liquidity (Details) - USD ($)
$ in Thousands
 1 Months Ended 6 Months Ended
Sep. 15, 2022
Nov. 30, 2022
Jun. 30, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2021
Liquidity            
Accumulated deficit     $ 531,397 $ 507,643    
Cash, cash equivalents and short-term investments     203,000      
Jefferies | ATM Program            
Liquidity            
Maximum aggregate value of common shares which can be issued under the agreement         $ 50,000 $ 25,000
Percentage of commission paid to underwriter based on proceeds from common stock 3.00%          
Aggregate offering price   $ 88,100        
Amount of common stock available for future issuance   $ 50,000     $ 30,500  
Amount of common stock remains available for sale under ATM program     $ 50,000