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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Deferred tax assets: |  |
Net operating loss carryforward | $ 313,834 | $ 294,189
Research and development credits | 60,245 | 55,789
Section 174 capitalized research and development | 20,903 |
Stock-based compensation | 23,991 | 23,342
Lease liabilities | 2,052 | 2,564
Other | 3,693 | 3,953
Total gross deferred tax assets | 424,718 | 379,837
Deferred Tax Liabilities, Net [Abstract] |  |
Right-of-use lease assets | (1,914) | (2,420)
Total gross deferred tax liabilities | (1,914) | (2,420)
Valuation allowance | $ (422,804) | $ (377,417)

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