Convertible Preferred Stock and Stockholders' Equity (Deficit) - Additional Information (Details)		1 Months Ended				2 Months Ended	3 Months Ended	12 Months Ended
	Feb. 17, 2021 USD ($) shares	Feb. 28, 2021 USD ($) $ / shares shares	Nov. 30, 2020 USD ($) $ / shares shares	Oct. 31, 2020 USD ($) $ / shares shares	Jun. 30, 2020 $ / shares shares	Jul. 31, 2020 USD ($) $ / shares shares	Jun. 30, 2020 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares	Dec. 31, 2019 shares
Class Of Stock [Line Items]
Convertible preferred stock, shares issued									53,509,351
Proceeds from the issuance of convertible preferred stock, net of issuance costs | $			$ 109,100,000
Convertible preferred stock, shares authorized				229,296,908	77,427,646		77,427,646		229,296,908
Proceeds from the issuance of convertible preferred stock, net of issuance costs | $									$ 248,189,000
Aggregate investment amount | $				$ 153,800,000
Issuance cost | $			2,800,000				$ 100,000
Preferred stock, shares authorized								170,000,000
Preferred stock, par value | $ / shares								$ 0.0001
Convertible preferred stock, shares outstanding									53,509,351
Shares issued on conversion of convertible preferred shares									37,419,080
Preferred stock dividend declared or accrued | $								$ 0	$ 0
Percentage of voting rights								50.00%
Common stock, shares authorized		200,000,000						200,000,000	230,000,000
Common stock, par value | $ / shares		$ 0.0001						$ 0.0001	$ 0.0001
Common stock, voting rights		one vote per share
Common stock, shares, issued								26,408,031	2,126,254
Common stock, shares, outstanding								26,408,031	2,126,254
Conversion Into Common Stock
Class Of Stock [Line Items]
Offering price of convertible preferred stock | $ / shares									$ 7.82
Common Stock
Class Of Stock [Line Items]
Issuance of Common Stock upon initial public offering, net of issuance costs, Shares								15,870,000
Shares issued on conversion of convertible preferred shares		7,555,432
Preferred stock dividend declared or accrued | $								$ 0	$ 0
Proceeds received from IPO | $	$ 232,500,000
Common stock, shares, outstanding								26,408,031	2,126,254	2,115,583
Common Stock | IPO
Class Of Stock [Line Items]
Issuance of Common Stock upon initial public offering, net of issuance costs, Shares	13,800,000
Stock issuance costs | $	$ 21,300,000
Common Stock | Underwriter's Option
Class Of Stock [Line Items]
Issuance of Common Stock upon initial public offering, net of issuance costs, Shares	2,070,000
Existing Investors
Class Of Stock [Line Items]
Proceeds from the issuance of convertible preferred stock, net of issuance costs | $			$ 92,000,000.0
Share-based Payment Arrangement, Tranche Two
Class Of Stock [Line Items]
Purchase price | $ / shares					$ 0.81		$ 0.81
Proceeds from the issuance of convertible preferred stock, net of issuance costs | $							$ 24,900,000
Minimum | Conversion Into Common Stock
Class Of Stock [Line Items]
Gross proceeds from recapitalization | $									$ 50,000,000.0
Series C-1 Preferred Stock
Class Of Stock [Line Items]
Cancellation of third tranche convertible preferred stock					9,314,766
Series D-1 Preferred Stock
Class Of Stock [Line Items]
Cancellation of third tranche convertible preferred stock					955,666
Series C-1 Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued									13,404,197
Stock issuance costs | $									$ 24,000
Cancellation of third tranche convertible preferred stock									9,314,766
Convertible preferred stock, shares authorized				13,404,197	13,404,197		13,404,197		13,404,197
Convertible preferred stock, shares outstanding									13,404,197
Shares issued on conversion of convertible preferred shares									9,373,556
Preferred stock liquidation preference | $ / shares									$ 5.48
Convertible preferred stock, conversion price | $ / shares									$ 7.84
Series D-1 Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued									1,437,178
Stock issuance costs | $									$ 3,000
Cancellation of third tranche convertible preferred stock									955,666
Convertible preferred stock, shares authorized				11,809,630	11,809,626		11,809,626		11,809,630
Convertible preferred stock, shares outstanding									1,437,178
Shares issued on conversion of convertible preferred shares									1,005,013
Preferred stock liquidation preference | $ / shares									$ 2.74
Convertible preferred stock, conversion price | $ / shares									$ 3.92
Series D-2 Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued									10,372,452
Stock issuance costs | $									$ 6,000
Cancellation of third tranche convertible preferred stock					2,387,171				2,387,171
Convertible preferred stock, shares authorized				11,809,630	11,809,626		11,809,626		11,809,630
Convertible preferred stock, shares outstanding									10,372,452
Shares issued on conversion of convertible preferred shares									7,253,461
Preferred stock liquidation preference | $ / shares									$ 2.74
Convertible preferred stock, conversion price | $ / shares									$ 3.92
Series C-2 Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares authorized				13,404,197	13,404,197		13,404,197		13,404,197
Preferred stock liquidation preference | $ / shares									$ 5.48
Convertible preferred stock, conversion price | $ / shares									$ 7.84
Series E-1 Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued									2,289,899
Stock issuance costs | $									$ 48,000
Convertible preferred stock, shares authorized				13,477,088	13,500,000		13,500,000		13,477,088
Preferred stock, shares issued						2,289,899
Rights offering purchased						1,035,932
Issuance of convertible preferred stock, net of issuance costs, Shares									2,289,899
Convertible preferred stock, shares outstanding									2,289,899
Shares issued on conversion of convertible preferred shares									1,601,316
Preferred stock liquidation preference | $ / shares									$ 7.42
Convertible preferred stock, conversion price | $ / shares									$ 10.62
Series E-2 Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued									11,187,189
Stock issuance costs | $						$ 300,000			$ 233,000
Convertible preferred stock, shares authorized				13,477,088	13,500,000		13,500,000		13,477,088
Preferred stock, shares issued						11,187,189
Preferred stock value per share | $ / shares						$ 7.42
Proceeds from the issuance of convertible preferred stock, net of issuance costs | $						$ 99,700,000
Gross proceeds from issue of shares | $						$ 90,700,000
Issuance of convertible preferred stock, net of issuance costs, Shares									11,187,189
Convertible preferred stock, shares outstanding									11,187,189
Shares issued on conversion of convertible preferred shares									7,823,208
Preferred stock liquidation preference | $ / shares									$ 7.42
Convertible preferred stock, conversion price | $ / shares									$ 10.62
Series F-1 Convertible Preferred Stock
Class Of Stock [Line Items]
Proceeds from the issuance of convertible preferred stock, net of issuance costs | $				$ 14,400,000
Stock issuance costs | $									$ 3,056,000
Convertible preferred stock, shares authorized				18,633,312
Issuance of convertible preferred stock, net of issuance costs, Shares			3,128,902	1,730,995					4,859,897
Purchase price per share | $ / shares				$ 8.55
Issuance cost | $				$ 400,000
Preferred stock liquidation preference | $ / shares									$ 8.55
Series F-2 Convertible Preferred Stock
Class Of Stock [Line Items]
Stock issuance costs | $									$ 88,000
Convertible preferred stock, shares authorized				18,633,312
Issuance of convertible preferred stock, net of issuance costs, Shares			9,958,539						9,958,539
Preferred stock liquidation preference | $ / shares									$ 8.55
Series 1 Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares authorized				57,324,227
Shares issued on conversion of convertible preferred shares		29,863,674
Series 2
Class Of Stock [Line Items]
Convertible preferred stock, shares authorized				57,324,227
Series 1 Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares authorized									57,324,227
Preferred stock, shares issued								29,863,674	0
Preferred stock value per share | $ / shares								$ 0.0001	$ 0.0001
Preferred stock, shares authorized								60,000,000	57,324,227
Preferred stock, shares outstanding								29,863,674	0
Series 1 Convertible Preferred Stock | Conversion Into Series2 Non-voting Convertible Preferred Stock
Class Of Stock [Line Items]
Conversion ratio								1
Series 1 Convertible Preferred Stock | Conversion Into Common Stock
Class Of Stock [Line Items]
Conversion ratio								1
Series 2 Non-voting Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares authorized									57,324,227
Preferred stock value per share | $ / shares								$ 0.0001
Preferred stock, shares authorized		60,000,000
Preferred stock, shares outstanding								0
Conversion ratio								1
Notice period								61 days
Series 2 Non-voting Convertible Preferred Stock | Maximum
Class Of Stock [Line Items]
Percentage of number of issued and outstanding shares of common stock beneficially owned by holder								4.99%
Increase in percentage of number of issued and outstanding shares of common stock beneficially owned by holder								19.99%
Historical Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued								0	53,509,351
Convertible preferred stock, shares authorized								0	229,296,908
Convertible preferred stock, shares outstanding								0	53,509,351	37,871,430
Shares issued on conversion of convertible preferred shares		10,804,295
Conversion of Stock, Amount Converted | $	$ 225,300,000	$ 225,400,000
Percentage of number of issued and outstanding shares of common stock beneficially owned by holder									9.99%
Historical Convertible Preferred Stock | IPO
Class Of Stock [Line Items]
Shares issued on conversion of convertible preferred shares		42,705,056
Series F-1 Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued									4,859,897
Convertible preferred stock, shares authorized									18,633,312
Purchase price per share | $ / shares			$ 8.55
Convertible preferred stock, shares outstanding									4,859,897
Shares issued on conversion of convertible preferred shares									3,398,514
Convertible preferred stock, conversion price | $ / shares									$ 12.23
Series F-2 convertible preferred stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued									9,958,539
Convertible preferred stock, shares authorized									18,633,312
Purchase price per share | $ / shares			$ 8.55
Convertible preferred stock, shares outstanding									9,958,539
Shares issued on conversion of convertible preferred shares									6,964,012
Convertible preferred stock, conversion price | $ / shares									$ 12.23