Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 22,193	$ 22,369
Less: accumulated depreciation and amortization	(12,258)	(9,742)
Construction-in-progress	7
Total property and equipment, net	9,942	12,627
Laboratory Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	5,718	5,960
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	499	501
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Total property and equipment	818	825
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	$ 15,158	$ 15,083