Selected Quarterly Financial Information (Unaudited) - Schedule of Selected Quarterly Financial Information (Unaudited) (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Quarterly Financial Information Disclosure [Abstract]
Operating expenses	$ 54,659	$ 42,950	$ 37,342
Net loss	$ (54,630)	$ (41,742)	$ (35,087)
Net loss per common share, basic and diluted	$ (1.04)	$ (0.95)	$ (1.84)