Prepaid Expenses and Other Current Assets - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Prepaid contract research and development costs	$ 5,119	$ 4,770
Insurance	1,449	3,197
Research and development tax credit receivable	775	841
Value-added tax refund receivable	1,295	1,250
Other	201	149
Total prepaid expenses and other current assets	$ 8,839	$ 10,207