Financial Statement Components - Summary of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Accrued Liabilities and Other Liabilities [Abstract]
Accrued external research and development services	$ 23,901	$ 16,097
Accrued compensation and personnel costs	12,668	10,827
Accrued property and equipment	213	109
Accrued professional fees and consulting services	3,495	1,270
Interest payable	1,054
Other	933	500
Accrued expenses and other current liabilities	$ 42,264	$ 28,803