Income Taxes - Schedule of Domestic and Foreign Components of Net Loss (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Operating Loss Carryforwards [Line Items]
Net loss	$ (54,630)	$ (41,742)	$ (35,087)
Domestic
Operating Loss Carryforwards [Line Items]
Net loss	(54,581)	(41,599)	(34,181)
Foreign
Operating Loss Carryforwards [Line Items]
Net loss	$ (49)	$ (143)	$ (906)