Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Accrued Liabilities and Other Liabilities [Abstract]
Accrued external research and development expenses	$ 10,405	$ 9,273
Accrued payroll and related expenses	7,095	8,521
Accrued other	8,786	6,524
Total accrued expenses and other liabilities	$ 26,286	$ 24,318