Stockholders' Equity - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2022	Mar. 31, 2021
Class Of Stock [Line Items]
Stock-based compensation	$ 3,632	$ 4,643
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	1,300	954
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 2,332	$ 3,689

Amount of noncash expense for share-based payment arrangement.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
-Paragraph 28
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=123570139&loc=d3e3602-108585

Name:	us-gaap_ShareBasedCompensation
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration