Prepaid Expenses and Other Current Assets - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred Costs Capitalized Prepaid And Other Assets Disclosure [Abstract]
Prepaid contract research and development costs	$ 4,770	$ 359
Insurance	3,197
Research and development tax credit receivable	841	904
Value-added tax refund receivable	1,250	596
Other	149	371
Total prepaid expenses and other current assets	$ 10,207	$ 2,230