Income Taxes - Components of Net Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating loss carryforwards	$ 27,511	$ 17,915
Research and development credit carryforwards	3,514	847
Stock-based compensation	1,189	697
Accruals and other	432	286
Gross deferred tax assets	32,646	19,745
Less: Valuation allowance	(32,318)	(19,441)
Deferred tax assets, net of valuation allowance	328	304
Deferred tax liabilities:
Property and equipment	$ (328)	$ (304)