Balance Sheet Components - Summary of Accrued Expense and Other Current Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Accrued Liabilities, Current [Abstract]
Accrued research and development materials and services	$ 2,944	$ 1,674
Accrued professional services	222	170
Accrued personnel expenses	1,220	419
Other	474	480
Total accrued expenses and other current liabilities	$ 4,860	$ 2,743