Property and Equipment, Net - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Property and equipment, at cost	$ 8,258	$ 8,098
Less: accumulated depreciation and amortization	(6,843)	(5,846)
Property and equipment, net	1,415	2,252
Laboratory Equipment
Property Plant And Equipment [Line Items]
Property and equipment, at cost	6,017	5,857
Computers and Purchased Software
Property Plant And Equipment [Line Items]
Property and equipment, at cost	1,596	1,596
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Property and equipment, at cost	$ 645	$ 645