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Income Taxes - Schedule of Tax Effects of Temporary Differences and Carryforwards of Deferred Tax Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2021 | Dec. 31, 2020
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Deferred tax assets: |  |
Net operating loss carryforwards | $ 27,324 | $ 13,418
Research and development credit carryforwards | 5,939 | 3,813
Lease liability | 1,097 | 1,420
Intangible assets | 1,179 | 1,274
Stock-based compensation | 1,725 | 705
Accruals and reserves | 882 | 505
Deferred revenue | 12,575 | 17,332
Gross deferred tax assets | 50,721 | 38,467
Less: Valuation allowance | (49,575) | (36,879)
Deferred tax assets, net of valuation allowance | 1,146 | 1,588
Deferred tax liabilities: |  |
Right-of-use assets | (825) | (1,100)
Property and equipment | (321) | (488)
Net deferred tax assets | $ 0 | $ 0

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