Income Taxes - Significant Components of Net Deferred Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating loss carryforwards	$ 70,731	$ 60,260
Fixed assets and intangible assets	1,449	1,507
Lease liabilities	660	783
Accruals and reserves	1,178	1,349
Stock-based compensation	864	410
Tax credits	4,763	4,191
State Taxes	3
Other	890	49
Gross deferred tax assets	80,538	68,549
Less: valuation allowance	(79,476)	(64,211)
Net deferred tax assets	1,062	4,338
Deferred tax liabilities:
Fixed assets and intangible assets	(392)	(605)
Right of use assets	(670)	(773)
State Taxes		(2,960)
Total gross deferred tax liabilities	$ (1,062)	$ (4,338)