Convertible Preferred Stock and Common Stock - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended					12 Months Ended
	Jan. 31, 2021	Sep. 30, 2020	Aug. 31, 2020	Mar. 31, 2020	May 31, 2019	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Proceeds from the issuance of common stock upon initial public offering, net of offering costs							$ 166,630
Proceeds from the sale of common stock, net of offering costs						$ 161,424
Common Stock
Class Of Stock [Line Items]
Common stock, voting rights						The holders of the voting common stock are entitled to one vote for each share of voting common stock held at all meetings of stockholders
Common Stock | Minimum
Class Of Stock [Line Items]
Beneficial ownership percentage		9.99%
Common Stock | Maximum
Class Of Stock [Line Items]
Beneficial ownership percentage		19.99%
IPO
Class Of Stock [Line Items]
Sale of common stock in initial public offering		9,573,750
Proceeds from the issuance of common stock upon initial public offering, net of offering costs		$ 166,600
Convertible preferred stock converted into common stock		30,437,423
Common stock, shares authorized		500,000,000
IPO | Common Stock
Class Of Stock [Line Items]
Public offering price		$ 19.00
Series B Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued				7,628,846	7,628,846
Convertible preferred stock, price per share					$ 3.9325
Net proceeds from issuance of preferred stock				$ 29,900	$ 29,800		29,942
Additional shares issuable					7,628,846
Series C Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares issued			3,443,612
Convertible preferred stock, price per share			$ 14.5197
Net proceeds from issuance of preferred stock			$ 49,800				$ 49,826
Non-voting Common Stock
Class Of Stock [Line Items]
Common stock, shares authorized						12,850,259	12,850,259
Non-voting Common Stock | Common Stock
Class Of Stock [Line Items]
Sale of common stock in initial public offering						291,666
Non-voting Common Stock | IPO
Class Of Stock [Line Items]
Convertible preferred stock converted into common stock		11,110,371
Common Stock | Follow-on Offering
Class Of Stock [Line Items]
Public offering price	$ 60.00
Number of shares sold	2,875,000
Proceeds from the sale of common stock, net of offering costs	$ 161,400