Accrued and Other Liabilities - Summary of Accrued and Other Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued clinical and manufacturing expenses	$ 2,573	$ 5,086
Accrued payroll and related expenses	2,700	3,283
Accrued preclinical and research expenses	567	413
Accrued professional services expenses	506	155
Current portion of lease liability	1,451	1,374
Other	107	45
Total accrued and other liabilities	$ 7,904	$ 10,356