Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Accrued compensation	$ 3,003	$ 4,020
Accrued CMO costs	2,967	1,077
Accrued professional services	2,308	546
Accrued other research and development expenses	678	504
Accrued other liabilities	83	503
Accrued CRO costs	952	32
Total accrued and other liabilities	$ 9,991	$ 6,682