Net Loss Per Share - Summary of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Earnings Per Share [Abstract]
Net loss	$ (15,839)	$ (7,170)	$ (34,425)	$ (18,320)
Weighted-average common shares outstanding, basic and diluted	19,875,428	1,001,853	7,562,436	896,100
Net loss per share, basic and diluted	$ (0.80)	$ (7.16)	$ (4.55)	$ (20.44)