Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Redeemable Convertible Preferred Stock	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income	Accumulated Deficit
Balance at Dec. 31, 2019	$ (204,524)		$ 1	$ 5,293	$ 11	$ (209,829)
Temporary Equity, Balance, shares at Dec. 31, 2019		11,066,427
Temporary Equity, Balance at Dec. 31, 2019		$ 120,518
Balance, shares at Dec. 31, 2019			909,486
Issuance of Series D redeemable convertible preferred stock in connection with business combination		$ 2,737
Issuance of Series D redeemable convertible preferred stock in connection with business combination, shares		1,331,411
Issuance of common stock upon exercise of stock options	$ 118			118
Issuance of common stock upon exercise of stock options, shares	282,813		146,781
Issuance of common stock upon early exercise of stock options, shares			136,032
Stock-based compensation expense	$ 858			858
Net loss	(18,263)					(18,263)
Balance at Dec. 31, 2020	$ (221,811)		$ 1	6,269	11	(228,092)
Temporary Equity, Balance, shares at Dec. 31, 2020	12,397,838	12,397,838
Temporary Equity, Balance at Dec. 31, 2020	$ 123,255	$ 123,255
Balance, shares at Dec. 31, 2020			1,192,299
Conversion of Series D redeemable convertible preferred stock warrants into common stock warrants upon initial public offering	370			370
Conversion of Series D redeemable convertible preferred stock into common stock upon initial public offering, shares		(12,397,838)	12,397,838
Conversion of Series D redeemable convertible preferred stock into common stock upon initial public offering	123,255	$ (123,255)	$ 12	123,243
Conversion of 2018, 2019 and 2020 Notes into common stock upon initial public offering	89,303		$ 7	89,296
Conversion of 2018, 2019 and 2020 Notes into common stock upon initial public offering, shares			7,006,228
Issuance of common stock upon initial public offering, net of issuance costs and underwriting discount of $8,414	66,585		$ 6	66,579
Issuance of common stock upon initial public offering, net of issuance costs and underwriting discount of $8,414, shares			6,250,000
Issuance of common stock upon exercise of stock options	$ 975		$ 2	973
Issuance of common stock upon exercise of stock options, shares	1,975,918		1,612,363
Issuance of common stock upon early exercise of stock options, shares			363,555
Vesting of early exercised stock options	$ 74			74
Stock-based compensation expense	6,817			6,817
Net loss	(21,464)					(21,464)
Balance at Dec. 31, 2021	$ 44,104		$ 28	$ 293,621	$ 11	$ (249,556)
Temporary Equity, Balance, shares at Dec. 31, 2021	0
Balance, shares at Dec. 31, 2021			28,822,283