Net Loss Per Share - Computation of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Numerator:
Net loss	$ (69,204)	$ (52,892)
Denominator:
Weighted average common shares outstanding	27,390,326	24,164,828
Weighted-average shares used to compute net loss per share, basic and diluted	27,390,326	24,134,305
Net loss per share, basic and diluted	$ (2.53)	$ (2.19)
Early Exercised Stock
Denominator:
Less: weighted-average unvested common stock subject to repurchase		(30,523)