Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Balance Sheet Related Disclosures [Abstract]
Accrued research and development	$ 9,330	$ 2,106
Accrued compensation	5,752	1,766
Accrued professional and consulting fees	1,386	999
Accrued property, plant, and equipment	2,774	173
Accrued clinical trial	1,142
Other	779	91
Total accrued expenses and other current liabilities	$ 21,163	$ 5,135