Lease - Additional Information (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($) ft²	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)
Operating lease existence of option to extend [true false]		true
Operating lease, option to extend	The operating lease agreement has one option to extend the lease term for a period of five years at the fair market rate at the time of the extension.
Operating lease, renewal term	5 years
Weighted average remaining lease term	3 years 1 month 28 days
Operating lease liability, weighted average discount rate	10.00%
Rent expense	$ 1,100	$ 1,100	$ 1,100
Variable lease costs	$ 765	$ 542	$ 505
South San Francisco, California [Member]
Area of lease | ft²	24,357
Lease commenced date	Mar. 01, 2018
Lease expiration date	Feb. 28, 2025