Net Loss Per Share - Schedule of Basic And Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net Loss	$ (21,285)	$ (17,656)	$ (44,671)	$ (38,031)
Denominator:
Weighted-average shares of common stock outstanding-basic and diluted	34,976,409	34,238,394	34,894,001	34,177,262
Net loss per share attributable to common stockholders-basic and diluted	$ (0.61)	$ (0.52)	$ (1.28)	$ (1.11)