Accrued Expenses - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Payables And Accruals [Abstract]
Accrued clinical trials	$ 6,732	$ 3,673
Accrued professional service fees	3,068	2,157
Accrued contract manufacturing and non-clinical costs	4,635	2,780
Accrued compensation and related benefits	9,988	4,801
Accrued collaboration funding	6,300	0
Total accrued expenses	$ 30,723	$ 13,411