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		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net loss	$ (22,056)	$ (10,947)	$ (36,069)	$ (19,968)
Denominator:
Weighted-average shares outstanding	38,660,971	32,864,249	38,626,659	32,334,859
Less: weighted-average unvested restricted shares and shares subject to repurchase		(9,323)		(13,378)
Weighted average number of common shares outstanding used in computing net loss per share, basic	38,660,971	32,854,926	38,626,659	32,321,481
Weighted average number of common shares outstanding used in computing net loss per share, diluted	38,660,971	32,854,926	38,626,659	32,321,481
Net loss per common share, basic	$ (0.57)	$ (0.33)	$ (0.93)	$ (0.62)
Net loss per common share, diluted	$ (0.57)	$ (0.33)	$ (0.93)	$ (0.62)