Consolidated Statements of Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit	Redeemable Convertible Preferred Stock
Beginning balance at Dec. 31, 2018	$ (79,750)		$ 3,639		$ (83,389)
Redeemable convertible preferred stock, Beginning balance, Shares at Dec. 31, 2018						113,145,900
Redeemable convertible preferred stock, Beginning balance at Dec. 31, 2018						$ 110,995
Beginning balance, Shares at Dec. 31, 2018		1,338,956
Exercise of stock options	274		274
Exercise of stock options, Shares		93,797
Stock-based compensation	1,642		1,642
Repurchase of common stock	(30)		(30)
Repurchase of common stock, Shares		(6,112)
Net loss	(34,099)				(34,099)
Ending balance at Dec. 31, 2019	(111,963)		5,525		(117,488)
Redeemable convertible preferred stock, Ending balance, Shares at Dec. 31, 2019						113,145,900
Redeemable convertible preferred stock, Ending balance at Dec. 31, 2019						$ 110,995
Ending balance, Shares at Dec. 31, 2019		1,426,641
Series B redeemable convertible preferred stock issuance, net of issuance costs of $4.5 million						$ 145,525
Series B redeemable convertible preferred stock issuance, net of issuance costs of $4.5 million, Shares						142,857,142
Initial public offering of common stock, net of issuance costs of $18.6 million	191,173	$ 1	191,172
Initial public offering of common stock, net of issuance costs of $18.6 million, Shares		11,040,000
Redeemable convertible preferred stock conversion upon closing of initial public offering	256,520	$ 3	256,517			$ (256,520)
Redeemable convertible preferred stock conversion upon closing of initial public offering, Shares		30,355,379				(256,003,042)
Warrant liability equity reclass.—related party	8,001		8,001
Exercise of stock options	887		887
Exercise of stock options, Shares		281,584
Stock-based compensation	3,432		3,432
Repurchase of common stock	(210)		(210)
Repurchase of common stock, Shares		(43,972)
Vested stock option settlement	(727)		(727)
Unrealized gain (loss) on investments	13			$ 13
Net loss	(66,335)				(66,335)
Ending balance at Dec. 31, 2020	280,791	$ 4	464,597	13	(183,823)
Ending balance, Shares at Dec. 31, 2020		43,059,632
Follow-on common stock offering, net of issuance costs of $11.3 million	169,465	$ 1	169,464
Follow-on common stock offering, net of issuance costs of $11.3 million, Shares		4,887,500
Shares issued upon warrant exercise - related party, Shares		256,038
Exercise of stock options	2,330		2,330
Exercise of stock options, Shares		474,850
Issuance of common stock under the 2020 ESPP	180		180
Issuance of common stock under the 2020 ESPP, Shares		6,640
Stock-based compensation	21,340		21,340
Unrealized gain (loss) on investments	(788)			(788)
Net loss	(83,892)				(83,892)
Other	180		180
Other, Shares		4,215
Ending balance at Dec. 31, 2021	$ 389,606	$ 5	$ 658,091	$ (775)	$ (267,715)
Ending balance, Shares at Dec. 31, 2021		48,688,875