Composition of Certain Balance Sheet Components - Summary of Accrued and Other Liabilities (Details) - USD ($) $ in Thousands |
Dec. 31, 2021 |
Dec. 31, 2020 |
|---|---|---|
| Balance Sheet Related Disclosures [Abstract] | ||
| Contract research services | $ 12,292 | $ 15,822 |
| Payroll and related expense | 8,760 | 6,793 |
| Other | 2,488 | 1,839 |
| Total accrued expenses and other liabilities | $ 23,540 | $ 24,454 |