Stockholders' Equity - Summary of Total Compensation Cost Recognized in Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total	$ 2,185	$ 1,813	$ 3,937	$ 3,390
Research and Development
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total	1,096	1,056	1,992	1,697
General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total	$ 1,089	$ 757	$ 1,945	$ 1,693