Income Taxes - Schedule of Tax Effects of Temporary Differences and Carryforwards of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating loss carryforwards	$ 27,324	$ 13,418
Research and development credit carryforwards	5,939	3,813
Lease liability	1,097	1,420
Intangible assets	1,179	1,274
Stock-based compensation	1,725	705
Accruals and reserves	882	505
Deferred revenue	12,575	17,332
Gross deferred tax assets	50,721	38,467
Less: Valuation allowance	(49,575)	(36,879)
Deferred tax assets, net of valuation allowance	1,146	1,588
Deferred tax liabilities:
Right-of-use assets	(825)	(1,100)
Property and equipment	(321)	(488)
Net deferred tax assets	$ 0	$ 0