Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Deferred tax assets:
Net operating loss carryforwards	$ 30,313	$ 8,635
Research and development tax credit carryforwards	12,230	8,344
Intangible assets	1,812	1,235
Accrued expenses	1,422	0
Stock-based compensation	5,237	3,911
Lease liability	8,808	9,428
Interest expense	269	0
Other	180	0
Total deferred tax assets	60,271	31,553
Valuation allowance	(51,957)	(21,961)	$ (36,535)	$ (18,602)
Deferred tax assets	8,314	9,592
Deferred tax liabilities:
Right-of-use asset	(7,056)	(7,625)
Depreciation	(1,150)	(1,478)
Beneficial conversion feature on convertible note payable	(32)	(397)
Other	(76)	(92)
Total deferred tax liabilities	(8,314)	(9,592)
Net deferred tax assets	$ 0	$ 0