Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued research and development expenses	$ 10,760	$ 9,122
Accrued compensation	5,161	7,275
Unvested early exercised stock option liability	2,167	2,884
Accrued property and equipment	1,113	1,272
Accrued professional services	463	383
Other accruals	163	483
Total	$ 19,827	$ 21,419