Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Accrued Expenses And Other Current Liabilities [Abstract]
Accrued compensation	$ 9,852	$ 7,736
Accrued research and development	17,018	10,459
Accrued professional services	540	492
Other	311	97
Total accrued expenses and other current liabilities	$ 27,721	$ 18,784