Income Taxes - Summary of Net Operating Losses and Tax Credit Carryforwards (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($)
Federal | Post December 31, 2017
Income Taxes [Line Items]
Net operating losses	$ 260,405
Operating losses carryforwards expiration years	Do Not Expire
Federal | Pre January 1, 2018
Income Taxes [Line Items]
Net operating losses	$ 64,136
Operating losses carryforwards expiration years	2029-2037
Federal | Research and Development Tax Credits
Income Taxes [Line Items]
Research and development tax credits	$ 7,173
Research and development tax credits carryforwards expiration years	2034-2041
State
Income Taxes [Line Items]
Net operating losses	$ 93,166
Operating losses carryforwards expiration years	2029-2036
California | Research and Development Tax Credits
Income Taxes [Line Items]
Research and development tax credits	$ 6,040
Research and development tax credits carryforwards expiration years	Indefinite