Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Taxes [Line Items]
Provision or benefit for income taxes	$ 0	$ 0
Increase in valuation allowance of net deferred tax assets	20,700,000	15,000,000.0
Net deferred tax asset	2,742,000	2,599,000
Gross unrecognized tax benefits	1,359,000	777,000	$ 270,000
Unrecognized tax benefits, penalties and interest expense	0	$ 0
Net Operating Loss and Tax Credit Carryforwards to Offset | Minimum
Income Taxes [Line Items]
Changes in ownership by stockholders holding percentage			5.00%
Federal
Income Taxes [Line Items]
Net operating loss carryforwards	139,000,000.0
Federal | Research and Development Credit Carry Forwards
Income Taxes [Line Items]
Tax credit carryforwards	$ 5,400,000
Tax credit carryforwards, expire	2035
Federal | 2035
Income Taxes [Line Items]
Net operating loss carryforwards	$ 200,000
Net operating loss carryforwards, expire	2035
Federal | 2036
Income Taxes [Line Items]
Net operating loss carryforwards	$ 3,000,000.0
Net operating loss carryforwards, expire	2036
Federal | Carry Forward Indefinitely
Income Taxes [Line Items]
Net operating loss carryforwards	$ 135,800,000
California State
Income Taxes [Line Items]
Net operating loss carryforwards	$ 65,400,000
Net operating loss carryforwards, expire	2036
California State | Research and Development Credit Carry Forwards
Income Taxes [Line Items]
Tax credit carryforwards	$ 3,600,000