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Stock-Based Compensation - Summary of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 2,529 | $ 2,966 | $ 8,231 | $ 3,616
Research and Development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 796 | 951 | 3,209 | 1,125
General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 1,733 | $ 2,015 | $ 5,022 | $ 2,491

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