Income Taxes - Schedule of Components of Company's Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating losses	$ 93,668	$ 68,727
Stock-based compensation	2,468	1,225
Research and development credit	8,803	7,225
Accrued vacation	432	390
Accrued expenses	446	745
Inventory	202	0
Intangible assets	3,564	3,863
Lease liability	1,114	439
Other	11	196
Total gross deferred tax assets	110,708	82,810
Valuation allowance	(106,717)	(79,782)
Net deferred tax asset	3,991	3,028
Deferred tax liabilities:
Property and equipment	(1,986)	(1,979)
Prepaid expenses	(593)	(642)
Right of use assets	(1,009)	(349)
IRC 263A	0	(58)
Other deferred tax liabilities	(313)	0
Debt	(90)	0
Total deferred tax liabilities	(3,991)	(3,028)
Net deferred tax assets (liabilities)	$ 0	$ 0