Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued compensation and benefits	$ 6,684	$ 6,902
Accrued research and development expenses	2,534	2,393
Accrued professional fees	572	291
Accrued other	226	217
Total accrued expenses and other liabilities	$ 10,016	$ 9,803