Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Numerator:
Net loss	$ (86,075)	$ (91,361)
Denominator:
Weighted average common shares outstanding	32,901,002	16,918,664
Less: weighted average unvested common stock issued upon early exercise of common stock options	(44,119)	(112,402)
Weighted average shares used to compute net loss per share, basic and diluted	32,856,883	16,806,262
Net loss per share, basic and diluted	$ (2.62)	$ (5.44)