Provision for Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Taxes [Line Items]
Valuation allowance increased (decreased) value	$ (1,100,000)	$ 33,800,000	$ 19,700,000
Net operating loss carryforwards amount with no expiration date	110,500,000
Interest or penalties accrued	0	0
Liability related to uncertain tax positions	0
Reserve for unrecognized tax benefits	5,428,000	$ 3,153,000	$ 2,165,000
Unrecognized tax benefits that would impact effective tax rate	$ 0
Federal | Earliest Tax Year | U.S.
Income Taxes [Line Items]
Open tax year	2015
Federal | Latest Tax Year | U.S.
Income Taxes [Line Items]
Open tax year	2020
Federal | Research
Income Taxes [Line Items]
Research tax credits	$ 11,700,000
Research tax credits, expiration year	2035
State
Income Taxes [Line Items]
Net operating loss carryforwards	$ 13,000,000.0
Net operating loss carryforwards, expiration year	2035
State | Earliest Tax Year | California
Income Taxes [Line Items]
Open tax year	2015
State | Latest Tax Year | California
Income Taxes [Line Items]
Open tax year	2020
State | Research
Income Taxes [Line Items]
Research tax credits	$ 8,300,000
Foreign Tax Authority | Earliest Tax Year | Australian Taxation Office
Income Taxes [Line Items]
Open tax year	2017
Foreign Tax Authority | Latest Tax Year | Australian Taxation Office
Income Taxes [Line Items]
Open tax year	2020