Notes Payable - Summary of Notes Payable (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Notes and Loans, Noncurrent [Abstract]
Notes payable, net of issuance costs	$ 32,712	$ 32,669
Less: current portion	(5,500)	(786)
Notes payable, net of current portion	27,212	31,883
Accretion related to final payment	327	203
Notes payable, long term	$ 27,539	$ 32,086