Loss Per Share - Schedule of Basic and Diluted Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Numerator:
Net loss	$ (83,892)	$ (66,335)	$ (34,099)
Accrual of preferred stock dividends			(8,468)
Net loss attributable to common stockholders—basic and diluted	$ (83,892)	$ (66,335)	$ (42,567)
Denominator:
Weighted-average common stock outstanding - basic and diluted	46,041,733	11,370,328	1,371,905
Net loss per share attributable to common stockholders—basic and diluted	$ (1.82)	$ (5.83)	$ (31.03)