Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Convertible Preferred Stock	Common Stock	Additional Paid-in Capital	Accumulated Deficit
Balances at Dec. 31, 2019	$ (225,139)		$ 1	$ 2,324	$ (227,464)
Temporary Equity Balance, Shares at Dec. 31, 2019		118,766,000
Temporary Equity Balance at Dec. 31, 2019		$ 193,959
Common Stock Balance, Shares at Dec. 31, 2019			255,000
Issuance of common stock	63,757		$ 4	63,753
Issuance of common stock, shares			4,000,000
Conversion of preferred stock into common stock upon initial public offering	193,959	$ (193,959)	$ 20	193,939
Conversion of preferred stock into common stock upon initial public offering, shares		(118,766,000)	20,091,000
Conversion of convertible debt into common stock upon initial public offering	26,616		$ 2	26,614
Conversion of convertible debt into common stock upon initial public offering, shares			1,848,000
Reclassification of preferred stock warrant liability and put option into additional paid-in capital upon initial public offering	8,274			8,274
Exercise of stock options	1,340			1,340
Exercise of stock options, shares			368,000
Stock‑based compensation	3,709			3,709
Net loss	(31,350)				(31,350)
Balances at Dec. 31, 2020	41,166		$ 27	299,953	(258,814)
Common Stock Balance, Shares at Dec. 31, 2020			26,562,000
Issuance of common stock	15,679		$ 4	15,675
Issuance of common stock, shares			3,757,000
Issuance of common stock under employee stock purchase plan	328			328
Issuance of common stock under employee stock purchase plan, Shares			43,000
Exercise of stock options	$ 769			769
Exercise of stock options, shares	408		428,000
Stock‑based compensation	$ 4,944			4,944
Net loss	(43,159)				(43,159)
Balances at Dec. 31, 2021	$ 19,727		$ 31	$ 321,669	$ (301,973)
Common Stock Balance, Shares at Dec. 31, 2021			30,790,000