Supplemental Balance Sheet Information - Summary of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued research and development expenses	$ 15,484	$ 15,174
Accrued general and administrative expenses	2,754	4,861
Accrued personnel costs	2,974	1,362
Other	45	1,109
Total	$ 21,257	$ 22,506