Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Convertible Debt	Common Stock	Common Stock Convertible Debt	Additional Paid-In Capital	Additional Paid-In Capital Convertible Debt	Accumulated Other Comprehensive Income	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2019	17,583,150
Beginning balance at Dec. 31, 2019	$ 205,339
Convertible Preferred Stock
Issuance of convertible preferred stock (in shares)	213,876
Issuance of convertible preferred stock	$ 2,260
Conversion of convertible preferred stock into common stock (in shares)	(17,797,026)
Conversion of convertible preferred stock into common stock	$ (207,599)
Ending balance (in shares) at Dec. 31, 2020	0
Ending balance at Dec. 31, 2020	$ 0
Beginning balance (in shares) at Dec. 31, 2019			2,100,203
Beginning balance at Dec. 31, 2019	(187,378)		$ 2		$ 21,750		$ 1,373	$ (210,503)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Conversion of securities into common stock (in shares)			17,797,026	2,561,484
Conversion of securities into common stock	207,599	$ 30,592	$ 18	$ 3	207,581	$ 30,589
Issuance of common stock (in shares)			11,500,000
Issuance of common stock	$ 201,392		$ 11		201,381
Issuance of common stock upon exercise of stock options (in shares)	1,745,040		1,745,040
Issuance of common stock upon exercise of stock options	$ 2,705		$ 2		2,703
Repurchase of early exercised common stock options (in shares)			(10,000)
Change in shares subject to repurchase	(346)				(346)
Stock-based compensation expense	3,489				3,489
Currency translation adjustment	318						318
Change in unrealized (losses) gains on marketable securities	(6)						(6)
Net loss	$ (32,231)							(32,231)
Ending balance (in shares) at Dec. 31, 2020	35,693,753		35,693,753
Ending balance at Dec. 31, 2020	$ 226,134		$ 36		467,147		1,685	(242,734)
Ending balance (in shares) at Dec. 31, 2021	0
Ending balance at Dec. 31, 2021	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon vesting of restricted stock unit (in shares)	40,908
Issuance of common stock (in shares)			1,065,567
Issuance of common stock	$ 1,881		$ 1		1,880
Issuance of common stock upon exercise of stock options (in shares)	1,065,567
Repurchase of early exercised common stock options (in shares)			(12,945)
Change in shares subject to repurchase	$ 204				204
Issuance of shares pursuant to Employee Stock Purchase Plan (in shares)			144,479
Issuance of shares pursuant to Employee Stock Purchase Plan	2,652				2,652
Stock-based compensation expense	11,002				11,002
Currency translation adjustment	51						51
Change in unrealized (losses) gains on marketable securities	(24)						(24)
Net loss	$ (48,661)							(48,661)
Ending balance (in shares) at Dec. 31, 2021	36,931,762		36,931,762
Ending balance at Dec. 31, 2021	$ 193,239		$ 37		$ 482,885		$ 1,712	$ (291,395)