Financial Statement Components - Summary of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Accrued Liabilities and Other Liabilities [Abstract]
Accrued external research and development services	$ 30,659	$ 16,097
Accrued compensation and personnel costs	8,272	10,827
Accrued property and equipment	311	109
Accrued professional fees and consulting services	2,931	1,270
Other	890	500
Accrued expenses and other current liabilities	$ 43,063	$ 28,803