Income Taxes - Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Rate Reconciliation
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 rates	80	245	1
Stock-based compensation	(2,698)	140	(3,599)
Other nondeductible items	711	61	498
Executive compensation	257	24	872
Change in valuation allowance	9,635	6,359	6,561
Provision for income taxes	$ 189	$ 339	$ 17

Effective Income Tax Rate Reconciliation, Nondeductible Expense, Executive Compensation

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets.

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The amount of income tax expense or benefit for the period computed by applying the domestic federal statutory tax rates to pretax income from continuing operations.

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