Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Income tax provision at the federal statutory tax rate	21.00%	21.00%
State taxes, net of federal benefit	4.10%	(5.30%)
Research and development credits	2.60%	(4.70%)
Stock-based compensation	(1.40%)	(0.40%)
Other non-deductible permanent items	2.60%	(47.90%)
Expired tax attributes	(2.00%)	1.50%
Other, percent	0.20%	(0.50%)
Change in valuation allowance	(27.10%)	35.60%
Income tax expense	0.00%	0.10%
Income tax provision at the federal statutory tax rate	$ (10,223)	$ 5,793
State taxes, net of federal benefit	(1,989)	(1,468)
Research and development credits	(1,241)	(1,306)
Stock-based compensation	677	122
Other non-deductible permanent items	(1,252)	(13,204)
Expired tax attributes	960	426
Other	(113)	(127)
Change in valuation allowance	13,189	9,821
Income tax expense	$ 8	$ 57