Annual report pursuant to Section 13 and 15(d)

Income Taxes - Additional Information (Details)

v3.22.0.1
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