Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Non-current deferred tax assets:
Net operating loss	$ 32,403	$ 28,264
Research and development credits	9,820	9,820
Other credits	4,164	4,164
Operating lease liabilities	566	2,045
Stock-based compensation	476	400
Property and equipment and intangible assets	653	429
Accruals and reserves	387	209
Gross non-current deferred tax assets	48,469	45,331
Right-of-use assets, operating leases	(471)	(1,826)
Total non-current deferred tax liabilities	(471)	(1,826)
Total deferred tax assets	47,998	43,505
Valuation allowance	(47,915)	(43,368)
Net deferred tax assets	$ 83	$ 137