Commitment and Contingencies- Narrative (Details)		3 Months Ended
	Mar. 04, 2022 USD ($)	Mar. 31, 2022 USD ($) lease	Mar. 31, 2021 USD ($)	Jan. 31, 2022 USD ($) ft²	Dec. 31, 2021 USD ($)	Feb. 28, 2019 ft²
Loss Contingencies [Line Items]
Operating lease right-of-use assets		$ 2,739,000	$ 3,051,000
Present value of operating lease obligations		3,121,000
Amount covered by insurance	$ 15,000,000
Insurance settlements receivable					$ 15,000,000
Accrued legal settlement		$ 15,000,000	15,000,000		$ 15,000,000
Letter of Credit
Loss Contingencies [Line Items]
Borrowing capacity				$ 368,000
South San Francisco, California
Loss Contingencies [Line Items]
Term of contract						5 years
Area of property (in sqft) | ft²						9,780
Remaining lease term		1 year 10 months 24 days
Rent expense		$ 359,000	$ 161,000
Ann Arbor, Michigan
Loss Contingencies [Line Items]
Term of contract					2 years 1 month 6 days
Number of non-cancelable lease agreements | lease		2
Brisbane, California
Loss Contingencies [Line Items]
Term of contract				8 years
Area of property (in sqft) | ft²				20,116
South San Francisco, California
Loss Contingencies [Line Items]
Operating lease right-of-use assets		$ 2,739,000			$ 3,051,000
Present value of operating lease obligations		$ 3,121,000			$ 3,468,000