Formation and Business of the Company (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	Oct. 05, 2020	Dec. 31, 2021	Dec. 31, 2020
Subsidiary, Sale of Stock [Line Items]
Accrued interest		$ 1,594
Common stock, shares authorized (in shares)	200,000,000	200,000,000	200,000,000
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001	$ 0.001
Convertible preferred stock, shares authorized (in shares)	10,000,000
Preferred stock, par value (in dollars per share)	$ 0.001	$ 0.001	$ 0.001
Accumulated deficit		$ 291,395	$ 242,734
Cash used in operating activities		41,388	$ 30,633
Cash, cash equivalents and marketable securities		$ 191,000
2020 Notes Agreement
Subsidiary, Sale of Stock [Line Items]
Convertible debt	$ 33,000
Accrued interest	800
2020 Notes Agreement | Convertible Debt
Subsidiary, Sale of Stock [Line Items]
Accrued interest	$ 800
2020 Notes Agreement | Convertible Debt | Common Stock
Subsidiary, Sale of Stock [Line Items]
Shares issued upon conversion of debt (in shares)	2,561,484
Conversion price per share (in dollars per share)	$ 13.20
Common Stock
Subsidiary, Sale of Stock [Line Items]
Conversion of convertible securities (in shares)	17,797,026		17,797,026
Common Stock | Convertible Debt
Subsidiary, Sale of Stock [Line Items]
Conversion of convertible securities (in shares)			2,561,484
IPO
Subsidiary, Sale of Stock [Line Items]
Shares issued in transaction (in shares)	11,500,000
Share price (in dollars per share)	$ 19.00
Proceeds from initial public offering	$ 218,500
Proceeds from initial public offering, net of issuance costs	$ 201,400
Over-Allotment Option
Subsidiary, Sale of Stock [Line Items]
Shares issued in transaction (in shares)	1,500,000