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	$ (32,920)	$ (24,533)	$ (16,274)	$ (14,185)	$ (57,453)	$ (30,459)
Denominator:
Weighted-average shares of common stock outstanding, basic	40,687,751		40,247,110		40,652,224	40,151,802
Weighted-average shares of common stock outstanding, diluted	40,687,751		40,247,110		40,652,224	40,151,802
Net loss per share, basic	$ (0.81)		$ (0.40)		$ (1.41)	$ (0.76)
Net loss per share, diluted	$ (0.81)		$ (0.40)		$ (1.41)	$ (0.76)