Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Follow On Public Offering	Initial Public Offering	At The Market Offering	Private Placement	Redeemable Convertible Preferred Stock	Common Stock	Common Stock Follow On Public Offering	Common Stock Initial Public Offering	Common Stock At The Market Offering	Common Stock Private Placement	Additional Paid-In Capital	Additional Paid-In Capital Follow On Public Offering	Additional Paid-In Capital Initial Public Offering	Additional Paid-In Capital At The Market Offering	Additional Paid-In Capital Private Placement	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Redeemable convertible preferred stock, beginning balance at Dec. 31, 2018						$ 138,391
Redeemable convertible preferred stock, beginning balance, shares at Dec. 31, 2018						13,139,794
Conversion of redeemable convertible preferred stock into common stock						$ (138,391)
Conversion of redeemable convertible preferred stock into common stock, shares						(13,139,794)
Beginning balance at Dec. 31, 2018	$ (48,948)											$ 1,599					$ (31)	$ (50,516)
Beginning balance, shares at Dec. 31, 2018							1,335,690
Conversion of redeemable convertible preferred stock into common stock	138,391						$ 1					138,390
Conversion of redeemable convertible preferred stock into common stock, shares							13,139,794
Issuance of common stock, net of issuance cost			$ 50,247						$ 1					$ 50,246
Issuance of common stock, net of issuance costs, shares									5,750,000
Issuance of common stock upon exercise of stock options	307											307
Issuance of common stock upon exercise of stock options, shares							135,563
Early exercised common stock options, shares							2,112
Repurchase of early exercised shares, shares							(23,698)
Vesting of early exercised common stock options and restricted stock	114											114
Stock-based compensation	2,168											2,168
Other comprehensive income (loss)	96																96
Net loss	(41,975)																	(41,975)
Ending balance at Dec. 31, 2019	100,400						$ 2					192,824					65	(92,491)
Ending balance, shares at Dec. 31, 2019							20,339,461
Issuance of common stock, net of issuance cost		$ 100,664		$ 6,582	$ 19,988			$ 1					$ 100,663		$ 6,582	$ 19,988
Issuance of common stock, net of issuance costs, shares								7,166,667		410,896	1,333,333
Issuance of common stock upon exercise of stock options	1,202											1,202
Issuance of common stock upon exercise of stock options, shares							256,583
Employee stock purchase plan (ESPP) purchase	$ 326											326
Employee stock purchase plan (ESPP) purchase, shares							40,794
Repurchase of early exercised shares, shares	(10,518)						(10,518)
Vesting of early exercised common stock options and restricted stock	$ 56											56
Stock-based compensation	3,609											3,609
Other comprehensive income (loss)	(58)																(58)
Net loss	(34,495)																	(34,495)
Ending balance at Dec. 31, 2020	198,274						$ 3					325,250					7	(126,986)
Ending balance, shares at Dec. 31, 2020							29,537,216
Issuance of common stock, net of issuance cost		$ 85,990		$ 57,263				$ 1					$ 85,989		$ 57,263
Issuance of common stock, net of issuance costs, shares								5,333,333		3,407,872
Issuance of common stock upon exercise of stock options	1,510											1,510
Issuance of common stock upon exercise of stock options, shares							211,900
Employee stock purchase plan (ESPP) purchase	$ 697											697
Employee stock purchase plan (ESPP) purchase, shares							50,037
Repurchase of early exercised shares, shares	0
Repurchase of unvested restricted stock							(7,313)
Vesting of early exercised common stock options and restricted stock	$ 24											24
Stock-based compensation	8,237											8,237
Other comprehensive income (loss)	(719)																(719)
Net loss	(49,762)																	(49,762)
Ending balance at Dec. 31, 2021	$ 301,514						$ 4					$ 478,970					$ (712)	$ (176,748)
Ending balance, shares at Dec. 31, 2021							38,533,045