Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued external research and development costs	$ 5,316	$ 4,017
Accrued payroll and payroll-related costs	4,180	5,056
Accrued professional fees	355	327
Other	3,238	1,048
Accrued expenses and other current liabilities	$ 13,089	$ 10,448