Balance Sheet Accounts and Supplemental Disclosures - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 9,756		$ 9,600
Less: accumulated depreciation	4,731		4,280
Property and equipment, net	5,025		5,320
Depreciation and amortization expense	452	$ 416
Office equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 1,097		1,097
Office equipment | Minimum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	3 years
Office equipment | Maximum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	7 years
Computer equipment
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	5 years
Total property and equipment	$ 123		123
Software
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	3 years
Total property and equipment	$ 130		130
Lab equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 5,718		5,688
Lab equipment | Minimum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	2 years
Lab equipment | Maximum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	5 years
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 2,561		2,562
Leasehold improvements | Minimum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	6 years
Leasehold improvements | Maximum
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)	7 years
Construction in process
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 127		$ 0