Net Loss Per Share - Calculation of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net loss	$ (16,187)	$ (16,024)	$ (12,962)	$ (12,994)	$ (32,211)	$ (25,956)
Denominator:
Weighted-average shares of common stock outstanding	64,279,634		51,904,701		62,465,092	51,483,709
Net loss per common share, basic	$ (0.25)		$ (0.25)		$ (0.52)	$ (0.50)
Net loss per common share, Diluted	$ (0.25)		$ (0.25)		$ (0.52)	$ (0.50)