Income Taxes - Schedule of Significant Components of Net Deferred Income Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred Tax Assets:
Federal net operating loss carryforwards	$ 25,957	$ 15,621
State net operating loss carryforwards	6,651	3,866
Research and development credit carryforwards	14,611	3,757
Lease liabilities	4,285	4,563
Deferred revenue	27,130	10,313
Accruals and reserves, stock and other	5,156	1,589
Total deferred tax assets	83,790	39,709
Valuation allowance	(77,990)	(34,075)
Deferred tax assets	5,800	5,634
Fixed and intangible assets	(1,941)	(1,506)
Right-of-use assets	(3,859)	(4,128)
Net deferred tax asset	$ 0	$ 0