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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Operating Loss Carryforwards [Line Items]      
Valuation allowance $ 7,800 $ 5,300  
Unrecognized tax benefits 1,489 1,390 $ 1,280
Research Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 10,400    
Domestic Tax Authority      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 136,300 $ 83,100  
Operating loss carryforwards amount permanently limited 226,800    
Unrecognized tax benefits 300    
Domestic Tax Authority | Research Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 2,800    
State and Local Jurisdiction      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 115,200    
Operating loss carryforwards amount permanently limited 150,700    
Unrecognized tax benefits 1,200    
State and Local Jurisdiction | Research Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward $ 12,100