Income Taxes - Additional Information (Details) - USD ($)			12 Months Ended
	Jun. 29, 2020	Mar. 27, 2020	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Tax Credit Carryforwards, Research			$ 55,789,000	$ 49,683,000
Unrecognized Tax Benefits, Ending Balance			9,631,000	$ 7,406,000	$ 4,784,000	$ 2,385,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued, Total			0
Net operating loss carryback period		5 years
Suspension of taxable income limitation percentage for operating loss carryforward		80.00%
California Franchise Tax Board | Minimum
Operating Loss Carryforwards [Line Items]
Adjusted gross income for disallowance of net operating loss deductions	$ 1,000,000.0
California Franchise Tax Board | Maximum
Operating Loss Carryforwards [Line Items]
Business credit offset amount	$ 5,000,000.0
Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Operating Loss Carryforwards, Total			1,200,000,000
Expiring Operating Loss Carryforwards			$ 547,400,000
Net operating loss carryforwards expiration year			2021
Indefinite Operating Loss Carryforwards			$ 664,200,000
Taxable income limitation percentage for operating loss carryforward			80.00%
Deferred Tax Assets, Tax Credit Carryforwards, Research			$ 45,300,000
Research and development credit carryforwards expiration year			2022
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Operating Loss Carryforwards, Total			$ 743,400,000
Net operating loss carryforwards expiration year			2028
Deferred Tax Assets, Tax Credit Carryforwards, Research			$ 20,400,000
Research and development credit carryforwards expiration year			2023