Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued compensation and benefits	$ 7,805	$ 6,902
Accrued research and development expenses	2,193	2,393
Accrued professional fees	1,371	291
Accrued unvested common stock subject to repurchase	0	13
Accrued other	37	204
Total accrued expenses and other liabilities	$ 11,406	$ 9,803