Accrued Expenses - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Payables And Accruals [Abstract]
Accrued employee compensation	$ 5,142	$ 5,040
Accrued external research and development costs	2,420	1,475
Accrued professional services and consulting	1,523	902
Accrued facilities costs	190	846
Other expenditures	428	607
Accrued expenses	$ 9,703	$ 8,870