Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands			1 Months Ended	12 Months Ended
	Jul. 21, 2020	Jul. 20, 2020	Dec. 31, 2020	Dec. 31, 2022	Dec. 31, 2020	Dec. 31, 2021	Jul. 31, 2020
Class Of Stock [Line Items]
Common stock, shares authorized	1,000,000,000			1,000,000,000		1,000,000,000
Common stock, par value	$ 0.001			$ 0.001		$ 0.001
Preferred stock, par value	$ 0.001
Common stock, shares outstanding				40,861,386		40,587,067
Underwriting discounts and commissions paid					$ 3,848
Common Stock
Class Of Stock [Line Items]
Issuance of common stock in connection with equity offerings, net of underwriter discounts and issuance costs, shares					12,512,000
Initial Public Offering | Common Stock
Class Of Stock [Line Items]
Issuance of common stock in connection with equity offerings, net of underwriter discounts and issuance costs, shares	9,775,000
Net proceeds from initial public offering	$ 169,500
Underwriting discounts and commissions paid	13,000
Payment for offering related expense	$ 3,200
Convertible shares converted in to common stock	23,934,533						23,934,533
Follow-on Public Offering | Common Stock
Class Of Stock [Line Items]
Issuance of common stock in connection with equity offerings, net of underwriter discounts and issuance costs, shares			2,737,000
Net proceeds from initial public offering			$ 194,900
Underwriting discounts and commissions paid			12,500
Payment for offering related expense			$ 700
Undesignated Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares authorized	100,000,000
Convertible Preferred Stock
Class Of Stock [Line Items]
Preferred stock, cumulative dividends percentage				6.00%
Accrued cumulative dividends on the Series A, Series B and Series C convertible preferred stock		$ 18,000
Cumulative preferred stock dividend convertible shares issued upon conversion		2,564,759
Series A Convertible Preferred Stock
Class Of Stock [Line Items]
Shares original issue price				$ 6.58
Series B and C Convertible Preferred Stock
Class Of Stock [Line Items]
Shares original issue price				$ 9.4972