Balance Sheet Accounts and Supplemental Disclosures - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 9,877		$ 9,877		$ 9,600
Less: accumulated depreciation	5,191		5,191		4,280
Property and equipment, net	4,686		4,686		5,320
Depreciation and amortization expense	500	$ 400	912	$ 842
Office equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	1,097		$ 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		123
Software
Property, Plant and Equipment [Line Items]
Estimated Useful Life (in years)			3 years
Total property and equipment	130		$ 130		130
Lab equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	5,965		$ 5,965		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	$ 2,562		$ 2,562		$ 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