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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | ---
Deferred Tax Assets: |  |
Net operating loss carryforwards | $ 61,874 | $ 53,128
Research and development tax credits | 3,372 | 2,860
Interest expense limitation | 554 |
Property and equipment | 215 | 279
Stock-based compensation | 1,977 | 865
Accruals and reserves | 1,618 | 1,406
Total | 69,610 | 58,538
Valuation allowance | (67,457) | (56,083)
Total deferred tax assets after valuation allowance | 2,153 | 2,455
Deferred Tax Liabilities: |  |
Intangible assets | (2,153) | (2,455)
Total deferred tax liabilities | $ (2,153) | $ (2,455)

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