Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Numerator:
Net loss	$ (18,041)	$ (17,611)	$ (17,394)	$ (18,426)	$ (8,183)	$ (6,800)	$ (53,046)	$ (33,409)
Denominator:
Weighted-average shares of common stock outstanding, basic	26,564,615			26,466,746			26,535,474	17,025,032
Weighted-average shares of common stock outstanding, diluted	26,564,615			26,466,746			26,535,474	17,025,032
Weighted-average shares used to compute net loss per share, basic	26,564,615			26,466,746			26,535,474	17,025,032
Weighted-average shares used to compute net loss per share, diluted	26,564,615			26,466,746			26,535,474	17,025,032
Net loss per share, basic	$ (0.68)			$ (0.70)			$ (2.00)	$ (1.96)
Net loss per share, diluted	$ (0.68)			$ (0.70)			$ (2.00)	$ (1.96)