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Accrued Expenses - Summary of Accrued Expenses (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Payables and Accruals [Abstract]    
Accrued external research and development expenses $ 10,348 $ 4,206
Accrued personnel-related expenses 3,909 5,516
Accrued professional services 1,324 133
Accrued other 948 1,014
Total accrued expenses $ 16,529 $ 10,869