The Company and Basis of Presentation - Additional Information (Details) $ in Thousands	3 Months Ended
	Mar. 31, 2022 USD ($) Segment	Dec. 31, 2021 USD ($)
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Number of operating segments | Segment	1
Working capital	$ 56,300
Accumulated deficit	(366,245)	$ (341,809)
Cash, cash equivalents, marketable securities, and restricted cash	$ 68,600