Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Balance Sheet Related Disclosures [Abstract]
Accrued research and development	$ 4,023	$ 850
Accrued bonus	1,957	1,080
Accrued clinical trial costs	1,672
Accrued general and administrative	756	922
Other accrued expenses and liabilities	283	129
Total accrued expenses and other current liabilities	$ 8,691	$ 2,981