Net Loss Per Share - Computation of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net loss	$ (19,184)	$ (20,468)	$ (16,110)	$ (16,514)	$ (39,652)	$ (32,624)
Denominator:
Weighted-average shares used to compute net loss per share, basic	31,140,323		25,589,947		30,356,515	25,217,542
Weighted-average shares used to compute net loss per share, diluted	31,140,323		25,589,947		30,356,515	25,217,542
Net loss per share, basic	$ (0.62)		$ (0.63)		$ (1.31)	$ (1.29)
Net loss per share, diluted	$ (0.62)		$ (0.63)		$ (1.31)	$ (1.29)