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Accrued and Other Liabilities, Current and Noncurrent - Summary of Accrued Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2021 | Jan. 01, 2021 | Dec. 31, 2020
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Payables and Accruals [Abstract] |  |  |
Payroll and related expenses | $ 3,994 |  | $ 3,437
Accrued clinical and preclinical study costs | 407 |  | 869
Consulting and professional | 1,573 |  | 3,574
Other accrued expenses | 1,770 |  | 491
Total accrued and other current liabilities | $ 7,744 | $ 8,303 | $ 8,371

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