Basis of Presentation and Summary of Significant Accounting Policies - Summary of 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	Dec. 31, 2019
Numerator
Net loss	$ (78,715)	$ (73,703)	$ (26,883)
Denominator
Weighted average shares outstanding used in computing net loss per share, basic and diluted	37,954,280	21,942,476	1,899,348
Net loss per share, basic and diluted	$ (2.07)	$ (3.36)	$ (14.15)