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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Net operating loss carryforwards	$ 35,754	$ 30,367
Research and development credits	11,121	10,327
Fixed assets and inventory	120	743
Accruals and reserves	1,600	1,409
Interest expense carryforward	2,616	1,228
Other	781	146
Deferred tax assets, gross	51,992	44,220
Valuation allowance	(51,992)	(44,220)
Net deferred tax assets	$ 0	$ 0

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