Commitments and Contingencies - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Commitment And Contingencies [Line Items]
Lease initial term		10 years
Lease option to renew term description	lease laboratory and office space under non-cancellable operating agreements. In March 2021, we entered into a ten-year lease agreement, which superseded and replaced our prior lease, as amended, for our corporate headquarters and the new lease included additional office and laboratory space located within the same building in Berkeley, California. This lease agreement contains a renewal option for an additional term of five years
Lease existence of option to renew term		true
Lease renewal term	5 years
Security deposit	$ 400
Rent expense	1,800
Future minimum lease payments related to capital lease	$ 0
Operating lease, weighted average remaining lease term	9 years
Operating lease, weighted average discount rate, percent	11.30%