Balance Sheet Details - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Accrued Liabilities Current [Abstract]
Accrued research and development expenses	$ 2,845	$ 3,165
Accrued compensation expenses	2,594	6,344
Accrued professional & consulting expenses	2,067	1,855
Accrued other	59	41
Total accrued expenses	$ 7,565	$ 11,405