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Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | ---
Deferred tax assets: |  |
Net operating loss carryforwards | $ 49,791 | $ 38,665
Federal and state research and development tax credits | 7,756 | 6,103
Accrued liabilities and reserves | 1,644 | 1,089
Stock-based compensation | 2,331 | 1,273
Gross deferred tax assets | 61,522 | 47,130
Valuation allowance | (61,488) | (47,060)
Deferred tax liabilities: |  |
Depreciation and amortization | (34) | (70)
Gross deferred tax liabilities | (34) | (70)
Net deferred taxes | $ 0 | $ 0

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