Accrued Liabilities - Schedule of Accrued Compensation and Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Accrued compensation:
Accrued bonus	$ 13,814	$ 11,582
Accrued paid time off	4,429	2,441
Accrued payroll	2,888	1,997
Total accrued compensation	21,131	16,020
Accrued expenses and other current liabilities:
Accrued research and development expense services	3,419	1,197
Accrued property and equipment	2,566	2,892
Accrued professional fees	1,971	1,717
Other accrued current liabilities	2,388	3,660
Total accrued expenses and other current liabilities	$ 10,344	$ 9,466