Property and Equipment - Schedule of Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 10,425	$ 10,064
Less accumulated depreciation and amortization	(7,684)	(7,082)
Property and equipment, net	2,741	2,982
Laboratory Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	6,291	5,966
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	3,295	3,294
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	482	447
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Total property and equipment	$ 357	$ 357