Net Loss Per Share - 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	$ (26,923)	$ (25,987)	$ (21,535)	$ (19,373)	$ (52,910)	$ (40,908)
Denominator:
Weighted average common shares outstanding	43,844,869		32,879,406		38,452,511	32,843,343
Less: weighted average unvested common stock issued upon early exercise of common stock options	(3,477)		(52,041)		(5,555)	(59,613)
Weighted average shares used to compute net loss per share, basic	43,841,392		32,827,365		38,446,956	32,783,730
Weighted average shares used to compute net loss per share, diluted	43,841,392		32,827,365		38,446,956	32,783,730
Net loss per share, basic	$ (0.61)		$ (0.66)		$ (1.38)	$ (1.25)
Net loss per share, diluted	$ (0.61)		$ (0.66)		$ (1.38)	$ (1.25)