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Balance Sheet Components - Property and Equipment (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 7,346 $ 7,296
Less: accumulated depreciation and amortization (7,049) (6,880)
Property and equipment, net 297 416
Leasehold Improvements    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 3,213 3,174
Research Equipment    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 3,499 3,499
Furniture and Fixtures    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 350 350
Computer Equipment    
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 284 $ 273