Net Loss Per Share Attributable to Common Stockholders - Computation of Basic and Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Numerator:
Net loss	$ (14,013)	$ (9,021)
Denominator:
Weighted-average shares outstanding	38,591,966	31,778,686
Less: weighted-average unvested restricted shares and shares subject to repurchase		(17,479)
Weighted-average shares used in computing net loss per share attributable to common stock, basic and diluted	38,591,966	31,761,207
Net loss per share attributable to common stockholders, basic and diluted	$ (0.36)	$ (0.28)