Net Loss per Share - Summary of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net loss attributable to common shareholders	$ (38,093)	$ (26,309)	$ (72,850)	$ (47,726)
Net loss attributable to common shareholders-basic	(38,093)	(26,309)	(72,850)	(47,726)
Net loss attributable to common shareholders-diluted	$ (38,093)	$ (26,309)	$ (72,850)	$ (47,726)
Denominator:
Weighted-average common shares outstanding-basic	41,899,509	37,036,683	41,880,666	36,977,040
Weighted-average common shares outstanding-diluted	41,899,509	37,036,683	41,880,666	36,977,040
Net loss per share attributable to common shareholders--basic	$ (0.91)	$ (0.71)	$ (1.74)	$ (1.29)
Net loss per share attributable to common shareholders-diluted	$ (0.91)	$ (0.71)	$ (1.74)	$ (1.29)