Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Balance Sheet Components Disclosure [Abstract]
Accrued research and development expenses	$ 6,226	$ 3,837
Accrued general and administrative expenses	347	416
Lease liability, current portion	380	360
Total accrued expenses and other current liabilities	$ 6,953	$ 4,613