Income Taxes - Schedule of Components of Deferred Tax Assets and Liability (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating loss carryforwards	$ 85,417	$ 73,405
Tax credits, net of reserves	13,965	11,874
Accrued liabilities	678	948
Stock-based compensation	4,904	4,091
Operating lease liability	638	1,411
Fixed and intangible assets	10,765	277
Gross deferred tax assets	116,367	92,006
Valuation allowance	(115,847)	(90,797)
Total deferred tax assets	520	1,209
Deferred tax liability:
Operating lease right-of-use asset	(520)	(1,209)
Total deferred tax liability	$ (520)	$ (1,209)