Accrued Liabilities and Other Long-Term Liabilities - Summary of Accrued Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Accrued Liabilities and Other Liabilities [Abstract]
Accrued research and development expenses	$ 5,868	$ 3,274
Accrued compensation and benefits	5,216	4,542
Other accrued liabilities	907	1,675
Deferred rent	0	85
Total accrued liabilities	$ 11,991	$ 9,576