Income Taxes - Summary of Difference Between Provision for Income Taxes and Amounts Computed by Applying Statutory Federal Income Tax Rate to Income Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Taxes [Line Items]
Tax provision derived by applying the federal statutory rate to income before income taxes	$ (13,789)	$ (16,988)	$ (16,433)
Permanent differences and other	1,002	482	(98)
Effect of tax rate on foreign jurisdiction	(5)
Change in the valuation allowance	16,900	20,662	20,359
Income tax expense	141	0	0
Domestic Country Member
Income Taxes [Line Items]
Tax credits	(3,815)	(3,905)	(3,599)
State And Local Jurisdiction Member
Income Taxes [Line Items]
Tax credits	$ (152)	$ (251)	$ (229)