Leases - Additional Information (Details)	1 Months Ended				12 Months Ended
	Jul. 31, 2021 USD ($)	May 31, 2020 USD ($)	May 31, 2019 USD ($)	Jun. 30, 2018 USD ($) ft² shares	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	May 13, 2019
Lessee Lease Description [Line Items]
Renewal options			false
Operating lease payments	$ 1,300,000		$ 0	$ 0
Repurchase option percentage				100.00%
Operating leases period				3 years
Operating lease payments paid for additional space			$ 63,000
Operating lease termination month and year		2021-07	2021-07
Operating lease liability		$ 172,000	$ 0		$ 1,161,000	$ 446,000
Operating lease asset	$ 44,000	$ 172,000			1,165,000	674,000
Security deposit paid					105,000,000
Operating lease liability					420,000	208,000
Future rent expense					1,100,000
Depreciation expense of finance lease right-of-use asset					$ 220,000	$ 230,000	$ 107,000
Minimum
Lessee Lease Description [Line Items]
Finance lease amortized period on equipment service					20 months
Maximum
Lessee Lease Description [Line Items]
Operating lease remaining term on a straight-line basis					19 months
Finance lease amortized period on equipment service					34 months
San Diego, California
Lessee Lease Description [Line Items]
Lease agreement period		3 years
Operating lease payments		$ 337,000
Operating lease asset		326,000
Operating lease liability		317,000
Rent prepayment		9,000
San Diego, California | Other Assets
Lessee Lease Description [Line Items]
Security deposit paid		$ 29,000
Series B Redeemable Convertible Preferred Stock
Lessee Lease Description [Line Items]
Lease agreement period				3 years
Renewal options				false
Area under lease | ft²				3,185
Shares issued | shares				114,437
Convertible preferred stock, fair value				$ 1,100,000
Series B Redeemable Convertible Preferred Stock | IPO
Lessee Lease Description [Line Items]
Conversion of redeemable convertible preferred stock to common stock ratio								100.00%