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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Tax Disclosure [Line Items] |  |  |
Provision for income taxes | $ 0 | $ 0 | $ 0
Deferred tax assets, net operating loss carryforwards | 27,324,000 | 13,418,000 |
Research and development credit carryforwards | 5,939,000 | 3,813,000 |
Unrecognized tax benefits | 1,304,000 | $ 901,000 | $ 746,000
Federal Income Tax |  |  |
Income Tax Disclosure [Line Items] |  |  |
Deferred tax assets, net operating loss carryforwards | 101,600,000 |  |
Deferred tax assets, operating loss carryforwards subject to expire | $ 11,600,000 |  |
Tax credit carry forward expiration year | 2037 |  |
Deferred tax assets, operating loss carryforwards subject to do not expire | $ 90,000,000.0 |  |
Research and development credit carryforwards | 4,200,000 |  |
California State Income Tax |  |  |
Income Tax Disclosure [Line Items] |  |  |
Deferred tax assets, net operating loss carryforwards | 85,300,000 |  |
Deferred tax assets, operating loss carryforwards subject to expire | $ 85,300,000 |  |
Tax credit carry forward expiration year | 2036 |  |
Research and development credit carryforwards | $ 3,700,000 |  |

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