Balance Sheet Components - Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 6,935	$ 6,177
Less accumulated depreciation and amortization	(3,652)	(2,742)
Property and equipment, net	3,283	3,435
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	3,268	3,268
Furniture, Laboratory and Office Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	3,423	2,750
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	$ 244	$ 159