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Related Party Transactions - Additional Information (Details)	1 Months Ended		3 Months Ended		6 Months Ended
	Mar. 31, 2021 USD ($)	Apr. 30, 2019 USD ($) Agreement	Jun. 30, 2022 USD ($)	Jun. 30, 2021 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2021 USD ($)	Dec. 31, 2021 USD ($)
UC Regents \| SRAs
Related Party Transaction [Line Items]
Number of sponsored research agreements entered \| Agreement		2
Agreement term		3 years
Amount due to related party		$ 1,500,000
UC Regents \| SRAs and Machine Learning SRA
Related Party Transaction [Line Items]
Accounts payable, related party			$ 0.0		$ 0.0		$ 0.0
UC Regents \| Machine Learning SRA
Related Party Transaction [Line Items]
Agreement term	3 years
Amount due to related party	$ 1,400,000
Payment to related party					$ 400,000
Agreement terminated					2022-03
David Schaffer, Ph.D. \| Consulting Services and Services as Board of Director
Related Party Transaction [Line Items]
Related party expenses			$ 0	$ 31,000	$ 0	$ 63,000