Balance Sheet Components - Property and Equipment (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Total property and equipment	$ 6,943	$ 6,935
Less accumulated depreciation and amortization	(3,902)	(3,652)
Property and equipment, net	3,041	3,283
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	3,431	3,423
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	$ 244	$ 244