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Balance Sheet Components - Property and Equipment (Details) - USD ($)
$ in Thousands
Jun. 30, 2022
Dec. 31, 2021
Property Plant And Equipment [Line Items]    
Total property and equipment $ 7,657 $ 6,935
Less accumulated depreciation and amortization (4,139) (3,652)
Property and equipment, net 3,518 3,283
Leasehold Improvements    
Property Plant And Equipment [Line Items]    
Total property and equipment 3,337 3,268
Furniture, Laboratory and Office Equipment    
Property Plant And Equipment [Line Items]    
Total property and equipment 4,076 3,423
Computer Equipment    
Property Plant And Equipment [Line Items]    
Total property and equipment $ 244 $ 244