Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	At The Market Offering	Sutro Stock Payment	Common Stock	Common Stock IPO	Common Stock Market offering	Common Stock At The Market Offering	Common Stock Sutro Stock Payment	Additional Paid-in Capital	Additional Paid-in Capital IPO	Additional Paid-in Capital Market offering	Additional Paid-in Capital At The Market Offering	Additional Paid-in Capital Sutro Stock Payment	Accumulated Deficit	Accumulated Other Comprehensive Loss	Series A Redeemable Convertible Preferred Stock	Series B Redeemable Convertible Preferred Stock	Series C Redeemable Convertible Preferred Stock	Series D Redeemable Convertible Preferred Stock
Beginning balance at Dec. 31, 2019	$ (106,373)			$ 7					$ 2,967					$ (109,347)
Beginning balance, shares at Dec. 31, 2019																6,225,719	6,786,896	7,377,480
Beginning balance at Dec. 31, 2019																$ 24,967	$ 55,151	$ 80,192
Beginning balance, shares at Dec. 31, 2019				4,059,909
Conversion of preferred stock	270,190			$ 29					270,161							$ (24,967)	$ (55,151)	$ (80,192)	$ (109,879)
Conversion of preferred stock (in shares)																(6,225,719)	(6,786,896)	(7,377,480)	(8,220,242)
Conversion of preferred stock (in shares)				28,610,337
Conversion of common stock warrant				30,278
Conversion of preferred stock warrant				16,591
Warrant liability write-off	629								629
Issuance of common stock upon initial public offering or at-the-market offering, net of issuance costs	264,007				$ 18					$ 263,989
Common stock shares sold					17,968,750
Issuance of common stock under Employee Stock Purchase Plan	374								374
Issuance of common stock under Employee Stock Purchase Plan (in shares)				27,465
Release of restricted stock units	0
Issuance of preferred stock																			$ 109,879
Issuance of preferred stock, net of issuance cost (in shares)																			8,220,242
Exercise of stock options	635								635
Exercise of stock options (in shares)				343,444
Issuance of common stock related to early exercised stock options				14,819
Vesting of early exercised stock options	164								164
Stock-based compensation expense	5,434								5,434
Net Loss	(89,217)													(89,217)
Ending balance at Dec. 31, 2020	345,843			$ 54					544,353					(198,564)
Ending balance, shares at Dec. 31, 2020				51,071,593
Issuance of common stock upon initial public offering or at-the-market offering, net of issuance costs	13,847					$ 1					$ 13,846
Common stock shares sold						567,045
Issuance of common stock under Employee Stock Purchase Plan	888								888
Issuance of common stock under Employee Stock Purchase Plan (in shares)				62,546
Release of restricted stock units	0
Exercise of stock options	3,012								3,012
Exercise of stock options (in shares)				931,114
Issuance of common stock to LonzaLtd.	10,001			$ 1					10,000
Issuance of common stock to Lonza Ltd. (in shares)				399,680
Unrealized losses on investment	(241)														$ (241)
Vesting of early exercised stock options	16								16
Stock-based compensation expense	10,729								10,729
Net Loss	(100,077)													(100,077)
Ending balance at Dec. 31, 2021	284,018			$ 56					582,844					(298,641)	(241)
Ending balance, shares at Dec. 31, 2021				53,031,978
Issuance of common stock upon initial public offering or at-the-market offering, net of issuance costs	759,181	$ 97,299	$ 7,995	$ 21			$ 4		759,160			$ 97,295	$ 7,995
Common stock shares sold				21,062,500			3,921,528	167,780
Issuance of common stock under Employee Stock Purchase Plan	1,033								1,033
Issuance of common stock under Employee Stock Purchase Plan (in shares)				61,709
Release of restricted stock units	(861)								(861)
Release of restricted stock units, shares				46,603
Exercise of stock options	4,895			$ 1					4,894
Exercise of stock options (in shares)				1,178,572
Unrealized losses on investment	(120)														(120)
Vesting of early exercised stock options	8								8
Stock-based compensation expense	23,650								23,650
Net Loss	(223,485)													(223,485)
Ending balance at Dec. 31, 2022	$ 953,613			$ 82					$ 1,476,018					$ (522,126)	$ (361)
Ending balance, shares at Dec. 31, 2022				79,470,670