Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Numerator:
Net loss	$ (25,987)	$ (19,373)
Denominator:
Weighted average common shares outstanding	33,000,238	32,806,880
Less: weighted average unvested common stock issued upon early exercise of common stock options	7,656	67,270
Weighted average shares used to compute net loss per share, basic and diluted	32,992,582	32,739,610
Net loss per share, basic and diluted	$ (0.79)	$ (0.59)