Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Convertible Preferred Stock	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit
Balance at Dec. 31, 2019	$ (70,639)		$ 3	$ 2,140		$ (72,782)
Temporary equity, shares at Dec. 31, 2019		10,313,808
Temporary equity, balance at Dec. 31, 2019		$ 70,363
Balance, shares at Dec. 31, 2019			3,166,946
Issuance of convertible preferred stock, net of issuance costs		$ 104,680
Issuance of convertible preferred stock, net of issuance costs, shares		11,055,966
Reclassification of warrants from liability to equity	1,019			1,019
Conversion of convertible preferred stock in to common stock	175,043	$ (175,043)	$ 21	175,022
Conversion of convertible preferred stock into common stock, shares		(21,369,774)	21,369,774
Cumulative dividends			$ 3	(3)
Cumulative dividends, shares			2,564,759
Issuance of common stock in connection with equity offerings, net of underwriter discounts and issuance costs	364,400		$ 13	364,387
Issuance of common stock in connection with equity offerings, net of underwriter discounts and issuance costs, shares			12,512,000
Issuance of common stock upon net exercise of warrants			48,932
Issuance of common stock under equity incentive plans	299			299
Issuance of common stock under equity incentive plans, shares			182,111
Vesting of early exercised stock options	27			27
Stock-based compensation	5,436			5,436
Net loss	(45,740)					(45,740)
Balance at Dec. 31, 2020	429,845		$ 40	548,327		(118,522)
Balance, shares at Dec. 31, 2020			39,844,522
Issuance of common stock under equity incentive plans	2,551		$ 1	2,550
Issuance of common stock under equity incentive plans, shares			734,922
Issuance of common stock under employee stock purchase plan	202			202
Issuance of common stock under employee stock purchase plan, shares			7,623
Stock-based compensation	13,914			13,914
Net loss	(83,463)					(83,463)
Balance at Dec. 31, 2021	363,049		$ 41	564,993		(201,985)
Balance, shares at Dec. 31, 2021			40,587,067
Issuance of common stock under equity incentive plans	567			567
Issuance of common stock under equity incentive plans, shares			225,612
Issuance of common stock under employee stock purchase plan	336			336
Issuance of common stock under employee stock purchase plan, shares			48,707
Stock-based compensation	23,839			23,839
Unrealized loss on available-for-sale investments	(845)				$ (845)
Net loss	(123,482)					(123,482)
Balance at Dec. 31, 2022	$ 263,464		$ 41	$ 589,735	$ (845)	$ (325,467)
Balance, shares at Dec. 31, 2022			40,861,386