Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Accrued Liabilities Current [Abstract]
Personnel expenses	$ 820	$ 2,415
Professional fees	462	141
Research and development expenses	7,108	10,603
Current portion of operating lease liabilities	741	238
Other	180	44
Total accrued expenses and other current liabilities	$ 9,311	$ 13,441