Income Taxes - Schedule of Deferred Income Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Capitalized research and development costs	$ 13,436	$ 13,367
Net operating loss carryforward	25,284	18,081
Property and equipment	5,139	5,353
Accrued liabilities, reserves and other expenses	4,726	5,063
Research and development credits	6,342	5,533
Tax credits	495	717
Stock based compensation	2,283	1,917
Other	289	132
Gross deferred income tax assets	57,994	50,163
Deferred income tax liabilities:
Intangible assets	(2,128)	(2,015)
Prepaid and other expenses	(35)	(214)
Gross deferred income tax liabilities	(2,163)	(2,229)
Net deferred income tax assets	55,831	47,934
Valuation allowance	(24,178)	(22,108)
Total deferred income tax assets	$ 31,653	$ 25,826