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						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
Net loss per share:
Net loss	$ (30,615)	$ (29,546)	$ (28,100)	$ (27,045)	$ (22,831)	$ (22,856)	$ (88,261)	$ (72,732)
Net loss attributable to common stockholders	(30,615)			(27,045)			(88,261)	(72,732)
Net loss attributable to common stockholders	$ (30,615)			$ (27,045)			$ (88,261)	$ (72,732)
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders:
Basic (in shares)	46,799,058			35,906,303			39,735,342	35,787,022
Diluted (in shares)	46,799,058			35,906,303			39,735,342	35,787,022
Net loss per share attributable to common stockholders:
Basic (USD per share)	$ (0.65)			$ (0.75)			$ (2.22)	$ (2.03)
Diluted (USD per share)	$ (0.65)			$ (0.75)			$ (2.22)	$ (2.03)