Net Loss Per Share Attributable to Common Stockholders - Reconciliation of Numerator and Denominator Used in Calculation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Numerator
Net loss	$ (28,100)	$ (22,856)
Denominator
Basic (in shares)	36,116,440	35,645,205
Diluted (in shares)	36,116,440	35,645,205
Net loss per share:
Basic (USD per share)	$ (0.78)	$ (0.64)
Diluted (USD per share)	$ (0.78)	$ (0.64)