Stockholders' Equity - Summary of Non-cash Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Non-cash stock-based compensation expense	$ 1,302	$ 1,064	$ 2,600	$ 2,108
Research and Development Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Non-cash stock-based compensation expense	397	462	942	936
General and Administrative Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Non-cash stock-based compensation expense	$ 905	$ 602	$ 1,658	$ 1,172