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Income Taxes (Tables)
 12 Months Ended
Dec. 31, 2021
Income Tax Disclosure [Abstract]  
Schedule of Loss Before Income Taxes, Domestic and Foreign Our loss before provision for (benefit from) income taxes were as follows (in thousands): 
 Year Ended December 31,
 202120202019
United States$(21,037)$(23,452)$(11,751)
Foreign(53)(219)(167)
Loss before provision for income taxes$(21,090)$(23,671)$(11,918)
Components of Provision for Income Taxes The components of the provision for income taxes are as follows (in thousands): 
 Year Ended December 31,
 202120202019
Current provision:
State$— $5 $5 
Foreign198 342 18 
Total current provision $198 $347 $23 
Deferred benefit:
Foreign(9)(8)(6)
Total deferred benefit$(9)$(8)$(6)
Provision for income taxes$189 $339 $17 
Reconciliation of Provision for Income Taxes Calculated at the Statutory Rate to Provision for Income Taxes Reconciliation of the provision for income taxes calculated at the statutory rate to our provision for income taxes is as follows (in thousands): 
 Year Ended December 31,
 202120202019
Tax benefit at federal statutory rate$(4,429)$(4,971)$(2,503)
State taxes(2,235)(708)(1,120)
Research and development credits(1,132)(811)(693)
Foreign operations taxed at different rates80 245 1 
Stock-based compensation(2,698)140 (3,599)
Other nondeductible items711 61 498 
Executive compensation257 24 872 
Change in valuation allowance9,635 6,359 6,561 
Provision for income taxes$189 $339 $17 
Significant Components of Deferred Tax Assets and Liabilities Significant components of our deferred tax assets and liabilities are as follows (in thousands): 
 December 31,
 20212020
Deferred tax assets:
Net operating losses$78,525 $72,530 
Credits11,895 9,914 
Deferred revenues1,490 1,080 
Stock-based compensation3,946 2,576 
Reserves and accruals2,928 1,914 
Depreciation514 1,115 
Intangible assets1,356 1,714 
Capital losses26 25 
Unrealized gain/loss418 400 
Lease liability11,206 5,626 
Other assets122 100 
Total deferred tax assets:112,426 96,994 
Valuation allowance(101,762)(92,126)
Deferred tax liabilities:
Right-of-use assets(10,373)(4,848)
Other(314)(52)
Total deferred tax liabilities:(10,687)(4,900)
Net deferred tax liabilities$(23)$(32)
Summary of Federal, State and Foreign NOL Carryforwards and Federal Research and Development Tax Credits The following table sets forth our federal, state and foreign NOL carryforwards and federal research and development tax credits as of December 31, 2021 (in thousands): 
 December 31, 2021
 Amount
Expiration
Years
Net operating losses, federal$224,475 2022-2037
Net operating losses, federal$108,314 Do not expire
Net operating losses, state$138,770 2028-2041
Tax credits, federal$12,917 2023-2041
Tax credits, state$14,126 Do not expire
Net operating losses, foreign$— Various
Reconciliation of the Beginning and Ending Amount of Unrecognized Tax Benefits A reconciliation of the beginning and ending amount of unrecognized tax benefits is as follows (in thousands): 
 December 31,
 202120202019
Balance at beginning of year$12,683 $11,330 $9,980 
Additions based on tax positions related to current year2,206 1,357 1,362 
Additions to tax position of prior years372 — — 
Reductions to tax position of prior years— (4)(12)
Balance at end of year$15,261 $12,683 $11,330