Accrued Expenses and Other Current Liabilities - Schedule of Composition of Accrued Expenses (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued clinical and related costs	$ 8,093	$ 3,985
Accrued compensation and related costs	1,256	2,850
Accrued final payment liability (Note 6)	859	0
Accrued interest	22	38
Current portion of operating lease liability	430	475
Accrued other	2,226	1,005
Accrued expenses and other current liabilities	$ 12,886	$ 8,353