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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
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