Balance Sheet Components - Property and Equipment, Net (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Property and Equipment
Total property and equipment	$ 6,698		$ 6,056
Less: accumulated depreciation and amortization	(4,736)		(4,258)
Property and equipment, net	1,962		1,798
Property and equipment income statement disclosure
Depreciation expense	508	$ 365
Laboratory Equipment
Property and Equipment
Total property and equipment	4,659		4,156
Furniture and Computer Equipment
Property and Equipment
Total property and equipment	1,141		1,023
Leasehold Improvements
Property and Equipment
Total property and equipment	$ 898		$ 877