Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 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)