Prepaid Expenses and Other Current Assets - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Prepaid contract research and development costs	$ 6,023	$ 4,770
Insurance	2,251	3,197
Research and development tax credit receivable	1,639	841
Value-added tax refund receivable	1,150	1,250
Other	281	149
Total prepaid expenses and other current assets	$ 11,344	$ 10,207