The Company and Basis of Presentation - Additional Information (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($) Segment	Dec. 31, 2020 USD ($)
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Number of operating segments | Segment	1
Working capital	$ 78,700
Accumulated deficit	(341,809)	$ (276,008)
Cash, cash equivalents, marketable securities, and restricted cash	$ 95,000