Supplemental Balance Sheet Information - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Total property and equipment	$ 5,288	$ 5,043
Accumulated depreciation and amortization	(3,072)	(2,971)
Property & equipment, net	2,216	2,072
Scientific Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	2,960	2,970
Furniture and Office Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	1,163	1,002
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	$ 1,165	$ 1,071