Leases - Summary of Components of Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Lease Agreements [Line Items]
Operating lease cost	$ 2,041	$ 1,950	$ 1,814
Total lease cost	$ 7,106	$ 7,157	$ 4,194
Weighted-average discount rate	10.50%	10.50%	10.50%
Weighted-average remaining lease term (in months)	8 years 2 months 22 days	9 years 1 month 26 days	9 years 11 months 18 days
Research and development expenses
Lease Agreements [Line Items]
Operating lease cost	$ 2,000	$ 2,111	$ 2,312
Variable lease costs	641	585	707
General and administrative expenses
Lease Agreements [Line Items]
Operating lease cost	3,353	3,292	899
Variable lease costs	$ 1,112	$ 1,169	$ 276