Income Taxes - Significant Components of Company's Net Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating losses	$ 43,605	$ 27,867
Research and development credits	5,397	3,913
Lease liability	282	489
Depreciation and amortization	284	242
Other accruals and prepaid expenses	1,962	1,688
Total gross deferred tax assets	51,530	34,199
Less: Valuation allowance	(51,278)	(33,757)
Deferred tax assets, net	252	442
Deferred tax liabilities:
Right-of-use asset	(252)	(442)
Total gross deferred tax liabilities	$ (252)	$ (442)