Consolidated Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 5,578	$ 5,043
Accumulated depreciation and amortization	(3,457)	(2,971)
Property & equipment, net	2,121	2,072	$ 2,121
Scientific Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	3,008	2,970
Furniture and Office Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	1,332	1,002
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	$ 1,238	$ 1,071