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Fair Value Measurements - Financial Assets and Liabilities Measured at Fair Value on a Recurring Basis (Details) - USD ($) $ in Thousands | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | ---
Assets |  |
Cash and cash equivalents, adjusted cost | $ 14,183 | $ 15,275
Recurring |  |
Assets |  |
Cash and cash equivalents and marketable securities, adjusted cost | 155,078 |
Marketable securities, unrealized losses | (391) |
Total financial assets, fair value | 154,687 |
Recurring | Cash and Cash Equivalent |  |
Assets |  |
Total financial assets, fair value | 4,863 |
Recurring | Marketable Securities |  |
Assets |  |
Total financial assets, fair value | 149,824 |
Recurring | Level 1 | Money Market Funds |  |
Assets |  |
Cash and cash equivalents, adjusted cost | 4,863 |
Cash and cash equivalents, fair value | 4,863 |
Recurring | Level 1 | Money Market Funds | Cash and Cash Equivalent |  |
Assets |  |
Cash and cash equivalents, fair value | 4,863 |
Recurring | Level 2 |  |
Liabilities |  |
Total financial liabilities | 155 |
Recurring | Level 2 | Private Placement Warrants |  |
Liabilities |  |
Warrant liability | 155 |
Recurring | Level 2 | Asset-backed securities |  |
Assets |  |
Marketable securities, adjusted cost | 26,491 |
Marketable securities, unrealized losses | (68) |
Marketable securities, fair value | 26,423 |
Recurring | Level 2 | Asset-backed securities | Marketable Securities |  |
Assets |  |
Marketable securities, fair value | 26,423 |
Recurring | Level 2 | Corporate bonds |  |
Assets |  |
Marketable securities, adjusted cost | 48,643 |
Marketable securities, unrealized losses | (150) |
Marketable securities, fair value | 48,493 |
Recurring | Level 2 | Corporate bonds | Marketable Securities |  |
Assets |  |
Marketable securities, fair value | 48,493 |
Recurring | Level 2 | Commercial paper |  |
Assets |  |
Marketable securities, adjusted cost | 45,145 |
Marketable securities, fair value | 45,145 |
Recurring | Level 2 | Commercial paper | Marketable Securities |  |
Assets |  |
Marketable securities, fair value | 45,145 |
Recurring | Level 2 | U.S. Government securities |  |
Assets |  |
Marketable securities, adjusted cost | 29,936 |
Marketable securities, unrealized losses | (173) |
Marketable securities, fair value | 29,763 |
Recurring | Level 2 | U.S. Government securities | Marketable Securities |  |
Assets |  |
Marketable securities, fair value | 29,763 |
Recurring | Level 3 |  |
Liabilities |  |
Embedded derivative liability | 17 |
Total financial liabilities | 110 |
Recurring | Level 3 | Common Stock and Series A Preferred Stock Warrants |  |
Liabilities |  |
Warrant liability | $ 93 |

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