The Company and a Summary of its Significant Accounting Policies - Summary of Impact of Consolidated Balance Sheets from Adjustment (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Long term liabilities:        
Warrant liability   $ 1,650 $ 628  
Total liabilities $ 18,611 7,940 6,350  
Stockholders’ equity:        
Additional paid-in capital 436,183 189,868 103,412  
Accumulated deficit (206,364) (128,029) (91,552)  
Total stockholders’ equity $ 229,698 61,840 11,861 $ (5,355)
As Previously Reported        
Long term liabilities:        
Total liabilities   6,290 5,722  
Stockholders’ equity:        
Additional paid-in capital   189,849 103,599  
Accumulated deficit   (126,360) (91,111)  
Total stockholders’ equity   63,490 12,489  
Adjustments        
Long term liabilities:        
Warrant liability   1,650 628  
Total liabilities   1,650 628  
Stockholders’ equity:        
Additional paid-in capital   19 (187)  
Accumulated deficit   (1,669) (441)  
Total stockholders’ equity   $ (1,650) $ (628)