Formation and Business of the Company - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Net loss	$ 17,310	$ 18,433	$ 12,874	$ 11,602	$ 35,743	$ 24,476
Cash used in operating activities					31,677	$ 22,145
Accumulated deficit	203,469				203,469		$ 167,726
Cash, cash equivalents, and marketable securities	$ 277,434				$ 277,434