Fair Value Measurements and Fair Value of Financial Instruments - Summary of Activity of Financial Instruments (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]
Change in fair value	$ 1,000
Ending Balance	0
Acquisition Related Consideration Held in Escrow
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]
Beginning Balance		$ 3,500
Acquisition-related consideration released from escrow		(3,500)
Convertible Preferred Stock Warrant Liability
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]
Beginning Balance	64
Issuance of Series C convertible preferred stock warrants		79
Change in fair value	105	(15)
Reclassification of warrant liability to equity due to conversion from preferred stock warrant to common stock warrant upon completion of initial public offering	(169)
Ending Balance		64
Series D Convertible Preferred Stock Warrant Liability
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]
Beginning Balance	3,900
Issuance of Series D convertible preferred stock purchase right liability		3,900
Change in fair value	980
Settlement of Series D convertible preferred stock purchase right liability	$ (4,880)
Ending Balance		$ 3,900