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Leases - Additional Information (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
Jun. 30, 2023
Aug. 31, 2022
Oct. 31, 2021
Jul. 31, 2021
Jan. 31, 2021
May 31, 2020
May 31, 2018
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Apr. 30, 2023
Mar. 31, 2023
Lessee Lease Description [Line Items]                          
Rent expense               $ 2,700 $ 2,800 $ 5,500 $ 5,400    
Weighted-average remaining lease term 10 years 3 months 18 days             10 years 3 months 18 days   10 years 3 months 18 days      
Cash paid for operating leases                   $ 5,000 1,900    
Weighted-average discount rate 9.74%             9.74%   9.74%      
Lessee, operating lease, term of contract       12 years                  
Cash received for tenant improvement allowances to be repaid $ 4,400     $ 4,400                  
Cash received for operating leases                   $ 2,800 200    
Cash received related to tenant improvement allowance reimbursement                   7,800 $ 2,100    
Right-of-use asset impairment               $ 4,100   4,100      
Maximum                          
Lessee Lease Description [Line Items]                          
Tenant improvement allowances yet to receive       $ 25,200                  
Letter of Credit                          
Lessee Lease Description [Line Items]                          
Security deposit $ 1,600             $ 1,600   $ 1,600      
Letter of credit                       $ 2,700  
Third amendment                          
Lessee Lease Description [Line Items]                          
Operating lease, description                   The lease amendment for this additional space commenced in April 2021 and expires in March 2024      
Lease expiration month and year         2024-03                
Initial Lease Agreement And Additional Lease Agreement                          
Lessee Lease Description [Line Items]                          
Amount held as collateral for letters of credit issued to landlord                         $ 2,700
Second Amendment Of Additional Lease Agreement                          
Lessee Lease Description [Line Items]                          
Additional tenant improvement allowances   $ 15,000                      
Tenant improvement allowances yet to receive   $ 25,200                      
Initial Lease Agreement                          
Lessee Lease Description [Line Items]                          
Lease expiration year     2029     2029              
Operating lease, existence of option to extend     true     true              
Lessee option to extend description     The lease amendment of this additional space commenced in April 2022 and expires in January 2029. The lease amendment also includes this additional space in the Company’s option to extend the amended Initial Lease Agreement for an additional seven-year term.             The lease amendment also includes an extension of the lease term for the existing office and laboratory space beginning on May 1, 2020 and expiring in January 2029. The amendment to the Initial Lease Agreement also includes an option to extend the lease for an additional seven-year term      
Lease term           8 years              
Corporate Office and Laboratory Space                          
Lessee Lease Description [Line Items]                          
Lease expiration year             2025            
Corporate Office and Laboratory Space | Initial Lease Agreement                          
Lessee Lease Description [Line Items]                          
Operating lease, existence of option to extend             true            
Lessee option to extend description                   In April 2019, the Company executed the first amendment to the Initial Lease Agreement for additional corporate space, laboratory space and manufacturing capabilities and an extension to the lease term through April 2026.      
Renewal term           7 years