Stock-Based Compensation - Schedule of Components and Classification of Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands |
12 Months Ended |
Dec. 31, 2021 |
Dec. 31, 2020 |
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
|
|
| Stock-based compensation expense |
$ 10,677
|
$ 7,080
|
| Research and Development |
|
|
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
|
|
| Stock-based compensation expense |
4,733
|
3,563
|
| General and Administrative |
|
|
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
|
|
| Stock-based compensation expense |
5,409
|
3,517
|
| Gain on Disposition |
|
|
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
|
|
| Stock-based compensation expense |
535
|
|
| Employee |
|
|
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
|
|
| Stock-based compensation expense |
9,862
|
6,547
|
| Non-employee |
|
|
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
|
|
| Stock-based compensation expense |
$ 815
|
$ 533
|