Income Taxes (Tables)

12 Months Ended

Dec. 31, 2022

Income Tax Disclosure [Abstract]

Schedule of Components of Income Tax Expense (Benefit)

	Year Ended December 31,
	2022		2021		2020
United States	$	(55,010)	$	(49,811)	$	(47,365)
International		—		—		—
	$	(55,010)	$	(49,811)	$	(47,365)

Schedule of Effective Income Tax Rate Reconciliation

	Year Ended December 31,
	2022		2021		2020
Tax at federal statutory rate	$	(11,552)	$	(10,460)	$	(9,947)
State taxes, net of federal benefit		(2,206)		(1,852)		(1,958)
Permanent differences		(2,883)		(5,224)		(8,489)
Change in valuation allowance		18,237		17,918		22,164
General business credits		(1,166)		(852)		(1,268)
Other		(401)		490		(491)
Provision for income taxes	$	29	$	20	$	11

Schedule of Deferred Tax Assets and Liabilities

	December 31,
	2022		2021
Deferred tax assets:
Net operating loss carryforwards	$	82,768	$	77,616
Research and development credits		8,898		7,732
Capitalized start-up costs/Intangibles		1		4
Section 174 R&D capitalization		7,816		—
Accruals and reserves		2,820		2,301
Stock-based compensation		8,209		4,392
Operating lease liability		1,973		1,751
Interest limitation		2,013		1,314
Total deferred tax assets		114,498		95,110
Less: Valuation allowance		(111,444)		(93,207)
Deferred tax liabilities:
Operating lease asset		(1,278)		(1,297)
Property and equipment		(1,776)		(606)
Total deferred tax liabilities		(3,054)		(1,903)
Net deferred tax assets	$	—	$	—

Reconciliation of Unrecognized Tax Benefits

	December 31,
	2022		2021		2020
Balance at the beginning of year	$	3,314	$	2,019	$	1,436
Increases related to current years’ tax positions		474		704		342
Increases related to prior years’ tax positions		—		591		241
Balance at end of year	$	3,788	$	3,314	$	2,019