Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Common Stock	Common stock and Paid-In Capital	Accumulated Other Comprehensive Income	Accumulated Deficit
Beginning Balance, Shares at Dec. 31, 2019		24,263,000
Beginning Balance at Dec. 31, 2019	$ 117,139		$ 210,793	$ 148	$ (93,802)
Issuance of common stock, net of transaction costs	114,283		114,283
Issuance of common stock, net of transaction costs, shares		8,499,000
Vesting of shares subject to repurchase	26		26
Vesting of shares subject to repurchase, shares		17,000
Exercise of stock options	288		288
Exercise of stock options, shares		171,000
Stock issued under Stock Purchase Plan	691		691
Issuance of stock under Stock Purchase Plan, shares		51,000
Stock-based compensation	10,427		10,427
Comprehensive income (loss)	(123)			(123)
Net loss	(73,812)				(73,812)
Ending Balance at Dec. 31, 2020	168,919		336,508	25	(167,614)
Ending Balance, Shares at Dec. 31, 2020		33,001,000
Issuance of common stock, net of transaction costs	249,542		249,542
Issuance of common stock, net of transaction costs, shares		14,126,000
Vesting of shares subject to repurchase	21		21
Vesting of shares subject to repurchase, shares		15,000
Exercise of stock options	3,137		3,137
Exercise of stock options, shares		364,000
Stock issued under Stock Purchase Plan	1,021		1,021
Issuance of stock under Stock Purchase Plan, shares		91,000
Stock-based compensation	17,352		17,352
Comprehensive income (loss)	(407)			(407)
Net loss	(107,641)				(107,641)
Ending Balance at Dec. 31, 2021	331,944		607,581	382	(275,255)
Ending Balance, Shares at Dec. 31, 2021		47,597,000
Issuance of common stock, net of transaction costs	117,242		117,242
Issuance of common stock, net of transaction costs, shares		5,626,000
Vesting of shares subject to repurchase	2		2
Vesting of shares subject to repurchase, shares		1,000
Exercise of stock options	$ 4,721		4,721
Exercise of stock options, shares	524,774,000	524,000
Stock issued under Stock Purchase Plan	$ 1,618		1,618
Issuance of stock under Stock Purchase Plan, shares		129,000
Stock-based compensation	28,268		28,268
Comprehensive income (loss)	(3,549)			(3,549)
Net loss	(163,918)				(163,918)
Ending Balance at Dec. 31, 2022	$ 316,328		$ 759,432	$ (3,931)	$ (439,173)
Ending Balance, Shares at Dec. 31, 2022		53,877,000