Accrued and Other Current Liabilities - Schedule of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Payables And Accruals [Abstract]
Accrued employee compensation costs	$ 4,289	$ 5,383
Accrued professional costs	629	523
Accrued research and development costs	6,389	6,801
Current portion of operating lease liabilities	2,313	1,507
Other current liabilities	426	540
Total accrued and other current liabilities	$ 14,046	$ 14,754