Leases - Additional Information (Details)			3 Months Ended		6 Months Ended		16 Months Ended
	Jan. 03, 2022	Mar. 09, 2021	Jun. 30, 2022 USD ($)	Jun. 30, 2021 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2021 USD ($)	Jun. 30, 2022	Mar. 08, 2021 USD ($) ft²	Mar. 07, 2021 USD ($) ft²
Operating Leased Assets [Line Items]
Operating lease, description	The Company has a non-cancelable facility lease agreement, or the Lease, for office and laboratory facilities in South San Francisco, California, with a remaining lease term of 1.6 years, through January 2024, and a two-year renewal option prior to expiration.
Remaining lease term			1 year 7 months 6 days		1 year 7 months 6 days		1 year 7 months 6 days
Operating lease, renewal term			2 years		2 years		2 years
Incremental borrowing rate		7.50%					9.00%
Rentable area | ft²								34,000	54,000
Lease security deposit available in existing letter of credit								$ 270,000	$ 440,000
Cash paid for amounts included in the measurement of the lease liabilities			$ 400,000	$ 400,000	$ 800,000	$ 700,000
Interest and Other Income (Expense) Net
Operating Leased Assets [Line Items]
Gain recognized due to difference between reduced lease liability and reduction in operating lease right of use asset						$ 400,000