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Certain Balance Sheet Accounts - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020
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Balance Sheet Related Disclosures [Abstract] |  |
Recoverable research and development tax credits | $ 6,943 | $ 0
Prepaid research and development expenses | 2,661 | 1,500
Prepaid expenses | 1,960 | 0
Other assets | 1,050 | 11
Total prepaid expenses and other current assets | $ 12,614 | $ 1,511

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