Stockholders' Equity (Deficit) - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	1 Months Ended					12 Months Ended
	Feb. 28, 2022	Jan. 31, 2022	Jan. 31, 2021	Dec. 31, 2020	Jan. 31, 2020	Dec. 31, 2021	Dec. 31, 2020	Aug. 31, 2020
Class Of Stock [Line Items]
Maximum amount of sale covered in shelf registration statement								$ 300.0
Common stock aggregate offering price, remaining						$ 68.4
SVB Leerink LLC
Class Of Stock [Line Items]
Maximum amount of offering issuance and sale covered in sales agreement								$ 75.0
Common Stock
Class Of Stock [Line Items]
Number of shares issued						375,654
Number of shares subject to repurchase				256,056		122,464	256,056
Common Stock | Sales Agreement
Class Of Stock [Line Items]
Proceeds from issuance of shares							$ 6.3
Gross proceeds from issuance of common stock							$ 6.6
Common Stock | Sales Agreement | Subsequent Event
Class Of Stock [Line Items]
Gross proceeds from issuance of common stock	$ 17.4	$ 17.4
Follow-on Public Offering
Class Of Stock [Line Items]
Proceeds from issuance of shares					$ 44.7
Follow-on Public Offering | Common Stock
Class Of Stock [Line Items]
Number of shares issued					2,400,000
Shares issued, price per share					$ 20.00
At-the-market Offering | Common Stock
Class Of Stock [Line Items]
Number of shares issued							305,969
At-the-market Offering | Common Stock | Sales Agreement
Class Of Stock [Line Items]
Number of shares issued				3,750,000			305,969
Shares issued, price per share				$ 20.00			$ 20.00
Proceeds from issuance of shares				$ 70.0
At-the-market Offering | Common Stock | Sales Agreement | Subsequent Event
Class Of Stock [Line Items]
Number of shares issued	992,389	992,389
At-the-market Offering | Common Stock | Sales Agreement | Weighted Average
Class Of Stock [Line Items]
Shares issued, price per share				$ 21.55			$ 21.55
At-the-market Offering | Common Stock | Sales Agreement | Weighted Average | Subsequent Event
Class Of Stock [Line Items]
Shares issued, price per share	$ 18.04	$ 18.04
Public Offering
Class Of Stock [Line Items]
Proceeds from issuance of shares			$ 7.1
Public Offering | Common Stock
Class Of Stock [Line Items]
Shares issued, price per share			$ 20.00
Number of shares purchased			375,654
Underwritten Public Offerings | Common Stock
Class Of Stock [Line Items]
Number of shares issued							6,150,000
Underwritten Public Offerings | Common Stock | Sales Agreement | Maximum
Class Of Stock [Line Items]
Number of shares issued				562,500