Accrued Liabilities - Schedule of Accrued Compensation and Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Accrued compensation:
Accrued bonuses	$ 9,074	$ 13,814
Accrued paid time off	5,787	4,429
Accrued payroll	3,130	2,888
Total accrued compensation	17,991	21,131
Accrued expenses and other current liabilities:
Accrued research and development services	6,398	3,419
Accrued property and equipment	2,367	2,566
Accrued professional fees	1,586	1,971
Other accrued current liabilities	3,634	2,388
Total accrued expenses and other current liabilities	$ 13,985	$ 10,344