Income Taxes - Schedule of Effective Income Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
Federal income tax benefit at statutory rate (in percentage)	21.00%	21.00%	21.00%
State and local tax, net of federal benefit (in percentage)	7.90%	7.50%	5.30%
Research and development credit (in percentage)	3.20%	2.80%	3.20%
Effective Income Tax Rate Reconciliation, Permanent Differences, Percent	(0.10%)	(1.00%)	(8.10%)
Other (in percentage)	0.00%	1.10%	2.90%
Effective Income Tax Rate Reconciliation, Change in Deferred Tax Assets Valuation Allowance, Percent	(31.90%)	(31.40%)	(24.30%)
Total provision for income taxes	0.10%	0.00%	0.00%
Unrecognized tax benefits	$ 303	$ 303	$ 303	$ 0
Additions for tax positions taken in a prior year	0	0	303
Additions for tax positions taken in the current year	0	0	0
Reductions for tax positions taken in the prior year due to settlement	0	0	0
Reductions for tax positions taken in the prior year due to statutes lapsing	$ 0	$ 0	$ 0