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Collaboration and License Agreements - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Jul. 31, 2020
Sep. 30, 2017
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Common stock, shares issued     38,960,716 1,768,325  
Revenue recognized     $ 3,129,000 $ 1,229,000  
Deferred revenue     19,872,000 6,473,000 $ 1,542,000
Cedars-Sinai Agreement | Cedars-Sinai          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
License agreement expiration term   3 years      
Cedars-Sinai Agreement | Cedars-Sinai | Vested Common Stock          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Common stock, shares issued   257,500      
Cedars-Sinai Agreement | Cedars-Sinai | Unvested Restricted Common Stock          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Common stock, shares issued   335,000      
License Agreement | Cedars-Sinai          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
License agreement expiration term   10 years      
Falk Agreement | Falk          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Funding percentage third-party development costs set forth in development plan 25.00%        
Collaboration agreement, upfront payment received upon agreement execution $ 2,500        
Collaboration agreement, pre-clinical development milestone payment received upon finalization of development plan     2,500    
Collaboration agreement, pre-clinical development milestone payment received upon clinical candidate selected 10,000        
Collaboration agreement additional pre-clinical development milestone payment eligible to receive $ 5,000        
Revenue recognized     2,750,000 437,000  
Deferred revenue     18,691,000 4,763,000  
Takeda Collaboration Agreement          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Revenue recognized     379,000 792,000  
Deferred revenue     1,181,000 1,710,000 $ 1,542,000
Takeda Collaboration Agreement | Takeda Pharmaceutical Company Limited          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Revenue recognized     400,000 800,000  
Deferred revenue     $ 1,200,000 $ 1,700,000