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License and Sponsored Research Agreements - Additional Information (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
Feb. 28, 2019
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
May 31, 2022
Jan. 31, 2022
Nov. 30, 2021
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]                
Research support funding expiration year 2021-12              
Research and development expenses   $ 10,007 $ 8,220 $ 21,821 $ 14,823      
Yale                
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]                
Partial upfront consideration payment under license agreement       100        
Milestone payment upon achievement of certain milestones   3,000   3,000     $ 300 $ 300
Yale | Sponsored Research Agreement                
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]                
Research support funding amount $ 2,400         $ 100    
Research support funding period 5 years              
Research and development expenses     $ 100 100 $ 300      
Yale | Sponsored Research Agreement | Maximum                
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]                
Research and development expenses   $ 100            
Yale | License                
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]                
Maintenance fees       $ 200