Income Taxes - Schedule of Significant Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets:
Federal, state and foreign net operating loss carryforwards	$ 53,075	$ 41,379
Research and development and other credits	1,840	1,333
Deferred rent and lease incentive obligation	1,321	1,506
Accrued expenses and other	1,551	1,063
Total gross deferred tax assets	57,787	45,281
Valuation allowance	(57,013)	(44,305)	$ (34,203)
Total deferred tax assets	774	976
Deferred tax liabilities:
Depreciation of fixed assets	(774)	(976)
Total deferred tax liabilities	$ (774)	$ (976)