Accrued Expenses and Other Current Liabilities - Schedule of Composition of Accrued Expenses (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued clinical and related costs	$ 3,260	$ 3,985
Accrued compensation and related costs	1,348	2,850
Accrued final payment liability (Note 6)	830	0
Accrued interest	31	38
Current portion of operating lease liability	450	475
Accrued other	1,972	1,005
Accrued expenses and other current liabilities	$ 7,891	$ 8,353