Formation and Business of the Company (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended		12 Months Ended
	Oct. 31, 2022	May 31, 2020	Dec. 31, 2022	Dec. 31, 2020	Dec. 31, 2021
Subsequent Event [Line Items]
Accumulated deficit			$ (343,712)		$ (288,702)
Cash and cash equivalents			55,358		$ 110,231
Cash, Cash Equivalents, and Short-Term Investments			213,474
Cash Cash Equivalents And Available For Sale Investments			213,674
Issued and sold common stock (in shares)	2,674,419	6,808,154
Net proceeds	$ 108,992	$ 70,543
Stock issued, price per share (in USD per share)	$ 43.00	$ 39.00
Payments of deferred offering costs	$ 258	$ 707	$ 6,008	$ 4,457
Payment of stock issuance underwriting discounts and commissions	$ 5,750	$ 3,750
Public Stock Offering Shares From Company [Member]
Subsequent Event [Line Items]
Issued and sold common stock (in shares)		1,923,076
Public Stock Offering Shares From Existing Shareholders [Member]
Subsequent Event [Line Items]
Issued and sold common stock (in shares)		4,885,078
Over Allotment [Member]
Subsequent Event [Line Items]
Issued and sold common stock (in shares)		1,021,223
Underwriters' Option [Member]
Subsequent Event [Line Items]
Issued and sold common stock (in shares)	348,837