Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating loss carryforwards	$ 43,804	$ 30,400
Tax credit carryforwards	5,579	5,240
Accruals and Reserves	1,638	939
Intangible Assets	4,952	5,287
Other	1,057	449
Gross deferred tax assets	57,030	42,315
Less: valuation allowance	(56,551)	(41,922)
Deferred tax assets	479	393
Deferred tax liabilities:
Depreciation	(43)	(27)
Goodwill	(473)	(428)
Net deferred tax liabilities	$ (37)	$ (62)