Consolidated Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 5,043	$ 4,014
Accumulated depreciation and amortization	(2,971)	(2,662)
Property & equipment, net	2,072	1,352
Scientific Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	2,970	2,617
Furniture and Office Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	1,002	542
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	$ 1,071	$ 855