Summary of Significant Accounting Policies - Computation of Basic and Diluted Net 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	$ (22,636)	$ (23,533)	$ (8,552)	$ (5,851)	$ (46,169)	$ (14,403)
Denominator:
Weighted-average common shares outstanding, basic and diluted	39,742,161		3,741,667		39,672,541	3,708,083
Less: Weighted average unvested common stock	(148,133)		(756,484)		(148,133)	(829,920)
Weighted average shares used to compute net loss per share, basic	39,594,028		2,985,183		39,524,408	2,878,163
Weighted average shares used to compute net loss per share, diluted	39,594,028		2,985,183		39,524,408	2,878,163
Net loss per share, basic	$ (0.57)		$ (2.86)		$ (1.17)	$ (5.00)
Net loss per share, diluted	$ (0.57)		$ (2.86)		$ (1.17)	$ (5.00)