Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued employee compensation and benefits	$ 2,952	$ 2,600
Accrued research and development	1,453	1,902
Accrued consulting and professional services	255	949
Accrued legal services and license fee	208	54
Other	1,291	1,012
Total accrued expenses and other current liabilities	$ 6,159	$ 6,517