Prepaid Expenses and Other Current Assets - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Prepaid Expense And Other Assets Current [Abstract]
Contract research and development costs	$ 1,068	$ 5,569
Research and development tax credit receivable	774	1,682
Prepaid insurance costs	705	1,728
Value-added tax refund receivable	372	598
Other	257	334
Total prepaid expenses and other current assets	$ 3,176	$ 9,911