Balance Sheet Details - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Accrued Liabilities Current [Abstract]
Accrued research and development expenses	$ 4,363	$ 4,864
Accrued compensation expenses	4,762	4,587
Accrued professional & consulting expenses	1,885	1,123
Accrued other	30	32
Total accrued expenses	$ 11,040	$ 10,606