Formation and Business of the Company - Additional Information (Details) - USD ($)			1 Months Ended	3 Months Ended						9 Months Ended
	Oct. 21, 2021	Oct. 20, 2021	Oct. 21, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Common stock, shares authorized				144,406,928						144,406,928		144,406,928
Common stock, par value				$ 0.001						$ 0.001		$ 0.001
Deferred offering costs				$ 2,505,000						$ 2,505,000
Expenses incurred in connection with offering not yet paid				11,377,000						11,377,000		$ 10,204,000
Aggregate outstanding principal and accrued interest of convertible promissory notes				0			$ 0			0	$ 0
Net Loss				3,225,000	$ 14,099,000	$ 14,948,000	$ 7,324,000	$ 10,300,000	$ (5,732,000)	32,272,000	$ 11,892,000
Accumulated deficit				(260,364,000)						(260,364,000)		(228,092,000)
Cash and cash equivalents				6,128,000						6,128,000		$ 17,359,000
Initial Public Offering | Accounts Payable and Accrued Liabilities
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Expenses incurred in connection with offering not yet paid				$ 1,900,000						$ 1,900,000
Subsequent Event
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Common stock, shares authorized	100,000,000		100,000,000
Common stock, par value	$ 0.001		$ 0.001
Preferred stock, shares authorized	5,000,000		5,000,000
Preferred stock, par value	$ 0.001		$ 0.001
Redeemable convertible preferred stock converted		19,404,135
Subsequent Event | Convertible Promissory Notes
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Aggregate outstanding principal and accrued interest of convertible promissory notes		$ 79,200,000
Subsequent Event | Initial Public Offering
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Deferred offering costs	$ 3,300,000		$ 3,300,000
Subsequent Event | Redeemable Convertible Preferred Stock
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Conversion of preferred stock		7,006,297
Conversion price per share		$ 11.31
Subsequent Event | Common Stock | Initial Public Offering
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Number of shares sold and issued	6,250,000		6,250,000
Shares issued offering price per share	$ 12.00		$ 12.00
Aggregate gross proceeds	$ 75,000,000.0
Net proceeds after deducting underwriting discounts and commissions	$ 69,800,000		$ 69,800,000