Balance Sheet Details - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Prepaid Expense And Other Assets Current [Abstract]
Prepaid contract manufacturing expenses	$ 881	$ 3,808
Prepaid clinical trial expenses	2,802	1,397
Prepaid research and development expenses	300	627
Other prepaid expenses	2,679	1,218
Total	$ 6,662	$ 7,050