Accrued and Other Liabilities - Summary of Accrued and Other Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued clinical and manufacturing expenses	$ 4,202	$ 5,086
Accrued payroll and related expenses	2,146	3,283
Current portion of lease liability	1,412	1,374
Accrued professional and consulting expenses	977	155
Other	514	458
Total accrued and other liabilities	$ 9,251	$ 10,356