Balance Sheet Components - Property and Equipment, Net (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Dec. 31, 2021
Property and Equipment
Total property and equipment	$ 6,753		$ 6,056
Less: accumulated depreciation and amortization	(4,970)		(4,258)
Property and equipment, net	1,783		1,798
Property and equipment income statement disclosure
Depreciation expense	778	$ 578
Laboratory Equipment
Property and Equipment
Total property and equipment	4,771		4,156
Furniture and Computer Equipment
Property and Equipment
Total property and equipment	1,069		1,023
Leasehold Improvements
Property and Equipment
Total property and equipment	$ 913		$ 877