Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued compensation	$ 4,020	$ 3,833
Accrued CMO costs	1,077	244
Accrued professional services	546	363
Accrued research and development expenses	504	65
Accrued other liabilities	503	272
Accrued CRO costs	32	955
Total	$ 6,682	$ 5,732