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Balance Sheet Details - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 11,502	$ 7,369
Less: accumulated depreciation and amortization	(3,548)	(4,097)
Property and equipment, net	7,954	3,272
Furniture and Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	1,619	397
Computers and Computer Software
Property Plant And Equipment [Line Items]
Total property and equipment	430	111
Lab Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	$ 9,453	4,739
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment		1,903
Construction in Progress
Property Plant And Equipment [Line Items]
Total property and equipment		$ 219

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