Balance Sheet Components - Schedule of Components of Other Assets, Net (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Operating lease right-of-use assets	$ 6,083	$ 1,829
Finance lease right-of-use assets	522	746
Deposits	144	144
Restricted cash	66
Total other assets	16,681	12,267
Long-term Prepaid Clinical Expenses
Property Plant And Equipment [Line Items]
Long-term prepaid expenses	7,012	6,694
Long-term Prepaid Contract Manufacturing Costs
Property Plant And Equipment [Line Items]
Long-term prepaid expenses	$ 2,854	$ 2,854