Income Taxes (Tables)

12 Months Ended

Dec. 31, 2021

Income Tax Disclosure [Abstract]

Schedule of Domestic and Foreign Components of Net Loss

The following table presents domestic and foreign components of net loss for the periods presented (in thousands):

	Year Ended December 31,
	2021			2020			2019
Domestic	$	(54,581	)	$	(41,599	)	$	(34,181	)
Foreign		(49	)		(143	)		(906	)
Total	$	(54,630	)	$	(41,742	)	$	(35,087	)

Schedule of Effective Tax Rate of Provision for Income Taxes Differs From Federal Statutory Rate

The effective tax rate of the provision for income taxes differs from the federal statutory rate as follows:

	Year Ended December 31,
	2021				2020				2019
Federal statutory income tax rate		21.0		%		21.0		%		21.0		%
State taxes, net of federal benefit		1.3				1.1				0.9
Foreign tax rate differential		0.0				0.0				0.2
Permanent differences		(2.2	)			(2.7	)			(1.7	)
Research and development credit		4.0				2.6				1.9
Change in valuation allowance		(24.1	)			(22.0	)			(22.3	)
Provision for income taxes		—		%		—		%		—		%

Schedule of Components of Deferred Tax Assets and Liabilities

The components of the deferred tax assets and liabilities are as follows (in thousands):

	Year Ended December 31,
	2021			2020			2019
Deferred tax assets
Reserves and accruals	$	2,043		$	1,665		$	1,056
Net operating loss carryforwards		34,617			24,824			16,986
Research and development credit carryforwards		5,127			2,938			2,177
Lease Liabilities		929			1,148			1,336
Gross deferred tax assets		42,716			30,575			21,555
Valuation allowance		(41,771	)		(29,410	)		(20,196	)
Net deferred tax assets		945			1,165			1,359
Deferred tax liabilities
Property and equipment		(375	)		(469	)		(557	)
Right-of-use asset		(570	)		(696	)		(802	)
Net deferred tax assets	$	—		$	—		$	—

Reconciliation of Unrecognized Tax Benefits

A reconciliation of the Company’s unrecognized tax benefits for the year ended December 31, 2021 and 2020 is as follows (in thousands):

	Year Ended December 31,
	2021		2020
Balance at the beginning of the year	$	868	$	—
Increase related to prior year tax positions		—		381
Increase related to current year tax positions		775		487
Balance at the end of the year	$	1,643	$	868