Net Loss Per Share - Computation of Basic and Diluted Net Loss per Share Attributable to Common Stockholders, which excludes Shares Legally Outstanding (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss	$ (88,098)	$ (98,591)
Denominator:
Weighted average common shares outstanding	37,574,757	33,216,339
Common stock outstanding subject to repurchase related to unvested early exercised stock options and restricted stock awards	(216,332)	(28,453)
Warrants to purchase common stock		8,826
Weighted average common shares outstanding - basic	37,358,425	33,196,712
Weighted average common shares outstanding - diluted	37,358,425	33,196,712
Net loss per share attributable to common stockholders, basic	$ (2.36)	$ (2.97)
Net loss per share attributable to common stockholders, diluted	$ (2.36)	$ (2.97)