Organization - Additional Information (Details) - USD ($)								12 Months Ended
	Jul. 12, 2021	Jan. 20, 2021	Aug. 12, 2020	Aug. 03, 2020	Jul. 22, 2020	Jun. 22, 2020	May 28, 2019	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Subsidiary Sale Of Stock [Line Items]
Proceeds from issuance of common stock upon public offering, net of issuance costs								$ 85,990,000	$ 100,664,000	$ 50,321,000
Accumulated deficit								176,748,000	$ 126,986,000
Cash, cash equivalents and marketable securities								368,100,000
Common Stock
Subsidiary Sale Of Stock [Line Items]
Conversion of redeemable convertible preferred stock into common stock, shares										13,139,794
Jefferies LLC | January 2021 Sales Agreement
Subsidiary Sale Of Stock [Line Items]
Common stock remained available to be sold								$ 73,800,000
IPO
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock, net of issuance costs, shares							5,750,000
Common stock, price per share							$ 10.00
Conversion of redeemable convertible preferred stock into common stock, shares							13,139,794
Proceeds from issuance of common stock in initial public offering, net of issuance costs							$ 50,200,000
Underwriting discounts and commissions							4,000,000.0
Offering costs							$ 3,300,000
IPO | Common Stock
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock, net of issuance costs, shares										5,750,000
Overallotment Option
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock, net of issuance costs, shares	695,652				500,000		750,000
Follow-on Public Offering
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock, net of issuance costs, shares	5,333,333					6,666,667
Common stock price per share	$ 17.25					$ 15.00
Gross proceeds from issuance common stock					$ 7,500,000	$ 100,000,000.0
Proceeds from issuance of common stock upon public offering, net of issuance costs	$ 86,000,000.0				$ 100,700,000
Follow-on Public Offering | Common Stock
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock, net of issuance costs, shares								5,333,333	7,166,667
Private Placement | Common Stock
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock, net of issuance costs, shares									1,333,333
Private Placement | Glaxo Group Limited
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock, net of issuance costs, shares				1,333,333
Common stock price per share				$ 15.00
Proceeds from issuance of common stock upon public offering, net of issuance costs				$ 20,000,000.0
At The Market Offering | Common Stock
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock, net of issuance costs, shares								3,407,872	410,896
At The Market Offering | Jefferies LLC | August 2020 Sales Agreement | Common Stock | Maximum
Subsidiary Sale Of Stock [Line Items]
Sale of common stock aggregate offering price			$ 50,000,000.0
At The Market Offering | Jefferies LLC | January 2021 Sales Agreement | Common Stock | Maximum
Subsidiary Sale Of Stock [Line Items]
Sale of common stock aggregate offering price		$ 90,000,000.0
At The Market Offering | Jefferies LLC | August 2020 Sales Agreement and January 2021 Sales Agreement | Common Stock
Subsidiary Sale Of Stock [Line Items]
Issuance of common stock, net of issuance costs, shares								3,407,872
Proceeds from issuance of common stock upon public offering, net of issuance costs								$ 57,300,000