Balance Sheet Components - Summary of Property and Equipment, Net (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Total property and equipment	$ 10,360	$ 8,165
Less: Accumulated depreciation and amortization	(5,597)	(3,894)
Property and equipment, net	4,763	4,271
Laboratory Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	$ 6,440	4,793
Property and equipment net, useful life	5 years
Computer Equipment
Property Plant And Equipment [Line Items]
Total property and equipment	$ 117	117
Property and equipment net, useful life	3 years
Software
Property Plant And Equipment [Line Items]
Total property and equipment	$ 204	118
Property and equipment net, useful life	3 years
Leasehold Improvements
Property Plant And Equipment [Line Items]
Total property and equipment	$ 3,133	2,716
Property and equipment net, useful life	Shorter of useful life or lease term
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Total property and equipment	$ 466	$ 421
Property and equipment net, useful life	5 years