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Related Party Transactions - Additional Information (Details) | 1 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2021 USD ($) | Apr. 30, 2019 USD ($) Agreement | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
David Schaffer, PhD, | Consulting Services and Services as Board of Director |  |  |  |
Related Party Transaction [Line Items] |  |  |  |
Related party expenses |  |  | $ 85,000 | $ 93,000
UC Regents | SRAs |  |  |  |
Related Party Transaction [Line Items] |  |  |  |
Related party expenses |  |  | 900,000 | 500,000
Number of sponsored research agreements entered | Agreement |  | 2 |  |
Agreement term |  | 3 years |  |
Amount due to related party |  | $ 1,500,000 |  |
UC Regents | Machine Learning SRA |  |  |  |
Related Party Transaction [Line Items] |  |  |  |
Agreement term | 3 years |  |  |
Amount due to related party | $ 1,400,000 |  |  |
Payment to related party |  |  | 400,000 |
UC Regents | SRAs and Machine Learning SRA |  |  |  |
Related Party Transaction [Line Items] |  |  |  |
Accounts payable, related party |  |  | $ 0.0 | $ 200,000

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