Net Loss Per Share Attributable to Common Stockholders - Computation of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Numerator:
Net loss	$ (123,482)	$ (83,463)	$ (45,740)
Less: cumulative preferred dividends allocated to preferred stockholders			(5,202)
Net loss attributable to common stockholders	$ (123,482)	$ (83,463)	$ (50,942)
Denominator:
Weighted-average shares of common stock used to compute net loss per share attributable to common stockholders, basic	40,699,612	40,308,050	18,485,343
Weighted-average shares of common stock used to compute net loss per share attributable to common stockholders, diluted	40,699,612	40,308,050	18,485,343
Net loss per share attributable to common stockholders, basic	$ (3.03)	$ (2.07)	$ (2.76)
Net loss per share attributable to common stockholders, diluted	$ (3.03)	$ (2.07)	$ (2.76)