Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred Tax Assets:
Net operating loss carryforwards	$ 67,675	$ 51,796
Operating lease right-of-use asset liability	5,504	5,686
Deferred revenue	1,263	2,857
Stock-based compensation	1,726	1,750
Intangible assets	1,081	1,195
Fixed Assets	196	0
Accruals and reserves	1,042	654
Research and development credit carryforwards	26	26
Gross deferred tax assets	78,513	63,964
Less: Valuation allowance	(73,163)	(57,715)
Deferred tax assets, net of valuation allowance	5,350	6,249
Deferred tax liabilities:
Fixed assets	0	0
Basis Difference IPR&D	0	(313)
Operating lease right-of-use asset	(5,350)	(6,061)
Net deferred tax asset	$ 0	$ 125