Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Contingency [Line Items]
Valuation allowance	$ 17,423
Unrecognized tax benefits that, if recognized, would affect the effective tax rate	2,078	$ 1,932	$ 1,889
Research and Development Credit | California
Income Tax Contingency [Line Items]
Research and development credits carryforwards	4,327
Federal
Income Tax Contingency [Line Items]
Net operating loss carryforwards	60,239
Net operating loss carryforwards, indefinite life	$ 52,443
Net operating loss carryforwards expiration, beginning year	2033
Research and development credits carryforwards expiration, beginning year	2022
Federal | Research and Development Credit
Income Tax Contingency [Line Items]
Research and development credits carryforwards	$ 4,365
State
Income Tax Contingency [Line Items]
Net operating loss carryforwards	$ 26,193
Net operating loss carryforwards expiration, beginning year	2028