Nature of Business and Basis of Presentation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands						1 Months Ended	3 Months Ended						9 Months Ended
	Apr. 06, 2021	Nov. 09, 2020	Mar. 12, 2020	Apr. 12, 2019	Apr. 02, 2018	Nov. 09, 2020	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Conversion of convertible preferred stock into common stock upon initial public offering, Shares					24,168,656
Net proceed from issuance of common stock													$ 49,744
Net loss							$ 30,608	$ 30,500	$ 1,073	$ 28,232	$ 35,340	$ 35,331	62,181	$ 98,903
Accumulated deficit							$ 390,549						$ 390,549		$ 328,368
Maximum
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Proceeds through future financings			$ 148,400
Initial Public Offering
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares					10,350,000
Common stock at a public offering price					$ 16.00
Net proceeds from initial public offering after underwriting discounts and commissions and offering expenses					$ 150,800
Follow-on Offering [Member] | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares	6,596,306			5,555,556				6,596,306
Shares issued price per share	$ 7.58			$ 22.50
Net proceeds after deducting underwriting discounts and commissions and offering expenses	$ 49,700			$ 116,900
Common stock offering expenses	$ 300
Underwriters Option | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares	989,445			833,333
Shares issued price per share	$ 7.58			$ 22.50
Net proceeds after deducting underwriting discounts and commissions and offering expenses				$ 17,600
Private Placement
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares		5,000,000				5,000,000
Shares issued price per share		$ 12.00				$ 12.00
Net proceed from issuance of common stock		$ 60,000				$ 60,000
ATM
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares													114,914
Shares issued price per share							$ 14.00						$ 14.00
Net proceed from issuance of common stock													$ 1,500
Proceeds through future financings													$ 148,400
Commission Fee													3.00%
Payments Of Stock Issuance Costs													$ 100
ATM | Maximum
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Proceeds through future financings			$ 150,000
ATM | Common Stock
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Issuance of common stock, net of discounts and issuance costs, Shares									114,914