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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Tax Contingency [Line Items] |  |  |
Valuation allowance | $ 17,423 |  |
Unrecognized tax benefits that, if recognized, would affect the effective tax rate | 2,078 | $ 1,932 | $ 1,889
Research and Development Credit | California |  |  |
Income Tax Contingency [Line Items] |  |  |
Research and development credits carryforwards | 4,327 |  |
Federal |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss carryforwards | 60,239 |  |
Net operating loss carryforwards, indefinite life | $ 52,443 |  |
Net operating loss carryforwards expiration, beginning year | 2033 |  |
Research and development credits carryforwards expiration, beginning year | 2022 |  |
Federal | Research and Development Credit |  |  |
Income Tax Contingency [Line Items] |  |  |
Research and development credits carryforwards | $ 4,365 |  |
State |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss carryforwards | $ 26,193 |  |
Net operating loss carryforwards expiration, beginning year | 2028 |  |

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- Definition Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c) -URI http://asc.fasb.org/extlink&oid=121826272&loc=d3e32537-109319 + Details
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