Property and Equipment, Net - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 8,456	$ 7,402
Less accumulated depreciation	(5,451)	(4,989)
Total property and equipment, net	3,005	2,413
Lab Equipment
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	5,922	5,305
Leasehold Improvements
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	1,730	1,710
Computer Hardware and Software
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	296	247
Furniture and Fixtures
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 508	$ 140