Consolidated Statements of Redeemable Convertible Preferred Stock and Stockholders Equity (Deficit) - USD ($) $ in Thousands	Series A Redeemable convertible preferred stock Preferred stock	Series B Redeemable convertible preferred stock Preferred stock	Common stock	Additional paid-in capital	Accumulated other comprehensive (loss) income	Accumulated deficit	Total
Balance at Beginning of period at Dec. 31, 2018	$ 33,112	$ 91,038
Balance at Beginning of period (in shares) at Dec. 31, 2018	22,501,174	63,032,500
Increase (Decrease) in Temporary Equity [Roll Forward]
Sale of Series B redeemable convertible preferred stock, net of stock issue costs		12,527,956
Sale of Series B redeemable convertible preferred stock, net of stock issue costs		$ 14,367
Accretion of redeemable convertible preferred stock to redemption value	$ 1,563	$ 6,220
Balance at Beginning of period at Dec. 31, 2018						$ (137,860)	$ (137,860)
Balance at Beginning of period (in shares) at Dec. 31, 2018			295,717
Increase (Decrease) in Temporary Equity [Roll Forward]
Vesting of common stock previously subject to repurchase				$ 4			4
Vesting of common stock previously subject to repurchase (in shares)			628
Exercise of stock options				14			$ 14
Exercise of stock options (in shares)			2,527				2,527
Foreign currency translation adjustment					$ (15)		$ (15)
Stock-based compensation expense				457			457
Issuance/Conversion of convertible preferred stock (in shares)	(22,501,174)	(75,560,456)	6,708,649
Issuance/Conversion of convertible preferred stock	$ (34,675)	$ (111,625)	$ 7	146,293			146,300
Issuance of common stock			$ 4	50,625			50,629
Issuance of common stock (in shares)			4,398,700
Unrealized loss on short-term investments					(4)		(4)
Accretion of redeemable convertible preferred stock to redemption value				(209)		(7,574)	(7,783)
Conversion of preferred stock warrants to redemption value				1,645			1,645
Net loss						(22,425)	(22,425)
Balance at Ending period at Dec. 31, 2019			$ 11	198,829	(19)	(167,859)	30,962
Balance at Ending period (in shares) at Dec. 31, 2019			11,406,221
Increase (Decrease) in Temporary Equity [Roll Forward]
Vesting of common stock previously subject to repurchase				3			3
Vesting of common stock previously subject to repurchase (in shares)			306
Exercise of stock options				175			$ 175
Exercise of stock options (in shares)			27,783				27,783
Issuance of common stock under the employee stock purchase plan				34			$ 34
Issuance of common stock under the employee stock purchase plan (in shares)			2,797
Foreign currency translation adjustment					(52)		(52)
Stock-based compensation expense				1,976			1,976
Issuance of common stock			$ 3	44,719			44,722
Issuance of common stock (in shares)			3,000,000
Net loss						(28,794)	(28,794)
Balance at Ending period at Dec. 31, 2020			$ 14	245,736	(71)	(196,653)	49,026
Balance at Ending period (in shares) at Dec. 31, 2020			14,437,107
Increase (Decrease) in Temporary Equity [Roll Forward]
Vesting of common stock previously subject to repurchase				1			1
Vesting of common stock previously subject to repurchase (in shares)			153
Exercise of stock options			$ 1	546			$ 547
Exercise of stock options (in shares)			77,154				77,154
Issuance of common stock under the employee stock purchase plan				38			$ 38
Issuance of common stock under the employee stock purchase plan (in shares)			3,163
Foreign currency translation adjustment					19		19
Stock-based compensation expense				3,661			3,661
Stock-based compensation expense (in shares)			12,000
Reclassification of liability-classified stock-based compensation awards				82			82
Net loss						(33,276)	(33,276)
Balance at Ending period at Dec. 31, 2021			$ 15	$ 250,064	$ (52)	$ (229,929)	$ 20,098
Balance at Ending period (in shares) at Dec. 31, 2021			14,529,577