Commitments and Contingencies - Additional Information (Details) - USD ($)	1 Months Ended	12 Months Ended
	Jun. 30, 2021	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2018
Loss Contingencies [Line Items]
Rent expense		$ 1,400,000	$ 1,500,000
Capital lease arrangements expiration period				2021-09
Capital lease arrangements remaining payments		$ 0
Offices and Laboratory Facilities
Loss Contingencies [Line Items]
Lessee, operating lease, option to extend		The Company leases its headquarters with its main offices and laboratory facilities in South San Francisco under a sublease agreement that ends in April 2022.
Lessee operating lease sublease agreement period end	2022-04
Space
Loss Contingencies [Line Items]
Lessee, operating lease, option to extend		The lease has an initial term of seven years, beginning on the lease commencement date, with an option to extend the lease for an additional period of five years
Lessee, operating lease, term of contract	7 years
Lessee operating lease additional number of period option to extend	5 years
Lessee operating lease start date	Mar. 31, 2022
Lessee operating lease amount of letter of credit maintain for benefit of landlord	$ 200,000