Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued compensation	$ 2,314	$ 4,020
Accrued CMO costs	1,617	1,077
Accrued professional services	783	546
Accrued other research and development expenses	418	504
Accrued other liabilities	53	503
Accrued CRO costs	18	32
Total accrued and other liabilities	$ 5,203	$ 6,682