Supplemental Balance Sheet Information - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Payables And Accruals [Abstract]
Accrued clinical trial costs	$ 11,041	$ 12,991
Accrued personnel costs	2,692	3,884
Accrued professional fees	57	25
Accrued other	262	257
Total accrued expenses and other current liabilities	$ 14,052	$ 17,157