Accrued Liabilities and Other Long-Term Liabilities - Summary of Accrued Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Accrued Liabilities and Other Liabilities [Abstract]
Accrued compensation and benefits	$ 2,634	$ 5,216
Accrued research and development expenses	7,846	5,868
Other accrued liabilities	1,146	907
Total accrued liabilities	$ 11,626	$ 11,991	[1]

[1] The condensed balance sheet as of December 31, 2021 has been derived from the audited financial statements as of that date.