Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Accrued Expenses And Other Current Liabilities [Abstract]
Accrued external research and development	$ 4,031	$ 3,136
Accrued payroll and benefits	2,603	1,500
Accrued professional fees	233	691
Accrued interest	17	437
Accrued other		46
Accrued expenses and other current liabilities	$ 6,884	$ 5,810