Organization and Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021	Dec. 31, 2021
Organization And Summary Of Significant Accounting Policies [Line Items]
Accumulated deficit	$ (195,833,000)		$ (182,953,000)
Cash, cash equivalents and short-term investments	62,700,000
Working capital	61,300,000
Long-lived assets, impairment losses	$ 0	$ 0
ASU No. 2020-06
Organization And Summary Of Significant Accounting Policies [Line Items]
Change in accounting principle, accounting standards update, adopted	true
Change in accounting principle, accounting standards update, immaterial effect	true
Minimum
Organization And Summary Of Significant Accounting Policies [Line Items]
Property and equipment, estimated useful life	3 years
Maximum
Organization And Summary Of Significant Accounting Policies [Line Items]
Property and equipment, estimated useful life	5 years