Balance Sheet Details - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Prepaid Expense And Other Assets Current [Abstract]
Prepaid contract manufacturing expenses	$ 3,808	$ 121
Prepaid clinical trial expenses	1,397	998
Prepaid research and development expenses	627	775
Other prepaid expenses	1,218	275
Total	$ 7,050	$ 2,169