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					9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Numerator:
Net loss	$ (24,682)	$ (25,936)	$ (25,835)	$ (14,592)	$ (19,709)	$ (76,453)	$ (51,830)
Denominator:
Weighted-average common shares outstanding	58,189,211			58,056,176		58,085,711	27,375,777
Less: weighted-average unvested restricted shares and shares subject to repurchase	(2,983,072)			(5,286,260)		(3,494,118)	(6,707,217)
Weighted-average shares used to compute basic net loss per share attributable to common stockholders	55,206,139			52,769,916		54,591,593	20,668,560
Weighted-average shares used to compute diluted net loss per share attributable to common stockholders	55,206,139			52,769,916		54,591,593	20,668,560
Net loss per share attributable to common stockholders-basic	$ (0.45)			$ (0.28)		$ (1.40)	$ (2.51)
Net loss per share attributable to common stockholders-diluted	$ (0.45)			$ (0.28)		$ (1.40)	$ (2.51)