Accrued Liabilities - Schedule of Accrued Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Accrued Liabilities, Current [Abstract]
Accrued clinical and manufacturing costs	$ 5,678	$ 3,072
Accrued compensation	4,798	3,723
Lease liabilities - short-term	$ 1,926	$ 0
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Total accrued liabilities	Total accrued liabilities
Other accruals	$ 863	$ 904
Deferred rent - short-term	0	546
Total accrued liabilities	$ 13,265	$ 8,245