Net Loss Per Share Attributable to Common Stockholders - Summary of 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	$ (25,936)	$ (25,835)	$ (17,529)	$ (19,709)	$ (51,771)	$ (37,238)
Denominator:
Weighted-average common shares outstanding	58,056,643		12,482,522		58,033,859	11,781,319
Less: weighted-average unvested restricted shares and shares subject to repurchase	(3,483,777)		(7,395,514)		(3,749,023)	(7,375,962)
Weighted-average shares used to compute basic net loss per share attributable to common stockholders	54,572,866		5,087,008		54,284,836	4,405,357
Weighted-average shares used to compute diluted net loss per share attributable to common stockholders	54,572,866		5,087,008		54,284,836	4,405,357
Net loss per share attributable to common stockholders-basic	$ (0.48)		$ (3.45)		$ (0.95)	$ (8.45)
Net loss per share attributable to common stockholders-diluted	$ (0.48)		$ (3.45)		$ (0.95)	$ (8.45)