Commitments and Contingencies - Additional Information (Details)		12 Months Ended
	Mar. 09, 2021	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Dec. 31, 2017 USD ($)	Mar. 08, 2021 USD ($) ft²	Mar. 07, 2021 USD ($) ft²
Gain Contingencies [Line Items]
Operating lease, description		The Company has a non-cancelable facility lease agreement, or the Lease, for office and laboratory facilities in South San Francisco, California, with a remaining lease term of 2.1 years, through January 2024, and a two-year renewal option prior to expiration.
Remaining lease term		2 years 1 month 6 days
Operating lease, renewal term		2 years
Payments for tenant improvements					$ 499,900
Sublease, description		Company had a non-cancelable sublease agreement for a portion of its facilities through February 2020.
Incremental borrowing rate	7.50%	9.00%
Rentable area | ft²						34,000	54,000
Lease security deposit available in existing letter of credit		$ 270,000	$ 440,000			$ 270,000	$ 440,000
Cash paid for amounts included in the measurement of the lease liabilities		1,500,000	$ 2,100,000	$ 2,300,000
Interest and Other Income, Net
Gain Contingencies [Line Items]
Gain recognized due to difference between reduced lease liability and reduction in operating lease right of use asset		$ 400,000