Summary of Significant Accounting Policies - Schedule of Computation of Basic and Diluted Net Income (Loss) Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net (loss) income	$ (11,284)	$ (14,864)	$ 4,097	$ (9,818)	$ (26,148)	$ (5,721)
Denominator:
Weighted-average shares of common stock issued and outstanding	40,254,890		33,867,593		40,254,890	30,121,003
Less: weighted-average unvested common stock subject to repurchase	0		(228,112)		0	(245,126)
Weighted-average shares used to compute net (loss) income per share, basic	40,254,890		33,639,481		40,254,890	29,875,877
Weighted-average shares used to compute net (loss) income per share, diluted	40,254,890		34,384,784		40,254,890	29,875,877
Net (loss) income per share, basic	$ (0.28)		$ 0.12		$ (0.65)	$ (0.19)
Net (loss) income per share, diluted	$ (0.28)		$ 0.12		$ (0.65)	$ (0.19)
Stock Options to Purchase Common Stock [Member]
Denominator:
Weighted-average shares used to compute net (loss) income per share, diluted	0		537,832		0	0
Common Stock Subject to Repurchase [Member]
Denominator:
Weighted-average shares used to compute net (loss) income per share, diluted	0		207,471		0	0