Commitment and Contingencies - Additional Information (Details) - USD ($) $ in Millions	1 Months Ended		12 Months Ended
	Oct. 31, 2021	Aug. 31, 2021	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Sep. 30, 2021
Loss Contingencies [Line Items]
Operating Lease, Right-of-Use Asset			$ 11.8
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration]			Other Assets, Noncurrent
Accrued Liabilities			$ 1.9
Long-term Debt			10.5
Operating Lease, Payments			$ 1.9
Operating Lease, Weighted Average Discount Rate, Percent			8.20%
Operating Lease, Weighted Average Remaining Lease Term			6 years 4 months 24 days
Operating Lease, Cost			$ 1.8
Rent expense				$ 1.4	$ 1.3
South San Francisco, California
Loss Contingencies [Line Items]
Extend the lease term		May 2028
San Diego, California
Loss Contingencies [Line Items]
Operating lease, renewal term						36 months
Extend the lease term	February 2022