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Commitments and Contingencies - Additional Information (Details)
$ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
May 31, 2022
Nov. 30, 2021
Feb. 28, 2021
USD ($)
RenewalOption
Dec. 31, 2016
RenewalOption
Jun. 30, 2022
USD ($)
Jun. 30, 2021
USD ($)
Jun. 30, 2022
USD ($)
Jun. 30, 2021
USD ($)
Commitments And Contingencies [Line Items]                
Weighted-average remaining lease term         5 years 8 months 12 days   5 years 8 months 12 days  
Weighted-average discount rate         9.20%   9.20%  
Short-term lease         $ 240 $ 585 $ 465 $ 1,170
Variable lease payments         $ 353 $ 269 $ 591 $ 490
Union City Facility                
Commitments And Contingencies [Line Items]                
Number of lease renewal term | RenewalOption     1          
Lease renewal term     5 years          
Lease commenced month and year     2021-05          
Term of lease     10 years          
Union City Facility | Other Noncurrent Assets                
Commitments And Contingencies [Line Items]                
Security deposit     $ 3,300          
Office and Laboratory Space | South San Francisco, California                
Commitments And Contingencies [Line Items]                
Lease expiration month and year       2025-05        
Number of lease renewal term | RenewalOption       2        
Lease renewal term       5 years        
Additional Office and Laboratory Space | South San Francisco, California                
Commitments And Contingencies [Line Items]                
Lease Expiration Date Dec. 31, 2022 Jun. 30, 2022