Organization and Description of the Business - Additional Information (Details)			1 Months Ended	12 Months Ended
	Jun. 11, 2020 USD ($) $ / shares shares	Feb. 04, 2020 USD ($) $ / shares shares	Jul. 31, 2020 shares	Dec. 31, 2022 USD ($) Segment $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($)	Jan. 06, 2023 $ / shares shares	Nov. 30, 2021 USD ($) Tranche
Organization And Description Of Business [Line Items]
Number of operating segments | Segment				1
Accumulated deficit				$ 248,893,000	$ 180,654,000
Issuance of common stock | shares				11,911,699	9,352,359
Weighted average purchase price, per share | $ / shares				$ 10.95	$ 11.13
Pre funded warrants to purchase shares of common stock | shares	909,091	2,884,615		3,793,706
Pre funded warrants exercise price | $ / shares	$ 0.001	$ 0.001		$ 0.001
Net proceeds under at-the-market offering programs				$ 126,542,000	$ 100,970,000	$ 0
Common stock, shares authorized | shares				125,000,000	125,000,000
Preferred stock, shares authorized | shares				10,000,000	10,000,000
Underwritten Public Offering
Organization And Description Of Business [Line Items]
Issuance of common stock | shares	7,590,909	18,965,385	427,707
Pre funded warrants to purchase shares of common stock | shares	909,091	2,884,615
Pre funded warrants exercise price | $ / shares	$ 0.001	$ 0.001
Common stock, shares issued, price per share | $ / shares	5.50	2.60
Warrant issue price per share | $ / shares	$ 5.499	$ 2.599
Net proceeds from the public offering	$ 45,800,000	$ 53,400,000
Commission paid				$ 3,900,000	$ 3,100,000
Underwritten Public Offering | Existing Stockholder, Equal Talent Investments Limited, and one of the Directors
Organization And Description Of Business [Line Items]
Net proceeds from the public offering	$ 8,500,000
Underwritten Public Offering | Existing Stockholder, Morningside Ventures and certain officers and directors
Organization And Description Of Business [Line Items]
Net proceeds from the public offering		$ 10,400,000
ATM Offering Program
Organization And Description Of Business [Line Items]
Net proceeds from the public offering				126,500,000	$ 101,000,000.0
Subsequent Event
Organization And Description Of Business [Line Items]
Pre funded warrants to purchase shares of common stock | shares							2,236,553
Pre funded warrants exercise price | $ / shares							$ 0.001
Loan and Security Agreement | Oxford Finance LLC
Organization And Description Of Business [Line Items]
Line of credit facility, maximum borrowing capacity								$ 50,000,000.0
Number of tranches | Tranche								5
Current borrowing capacity				$ 40,000,000.0
Loan and Security Agreement | Oxford Finance LLC | Tranche One
Organization And Description Of Business [Line Items]
Current borrowing capacity								$ 10,000,000.0
Minimum
Organization And Description Of Business [Line Items]
Sufficient cash and cash equivalents available period term				12 months