Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Balance Sheet Related Disclosures [Abstract]
Accrued research and development	$ 8,027	$ 11,895
Accrued compensation	4,914	7,703
Accrued license fees		3,500
Accrued property, plant and equipment	1,655	2,644
Accrued clinical trial	889	1,659
Accrued professional and consulting fees	823	1,091
Other	1,580	1,491
Total accrued expenses and other current liabilities	$ 17,888	$ 29,983