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	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss	$ (101,052)	$ (70,760)
Denominator:
Weighted-average common shares outstanding	58,111,437	35,121,114
Less: weighted-average unvested restricted shares and shares subject to repurchase	(3,237,762)	(6,201,859)
Weighted-average shares used in computing net loss per share-basic	54,873,675	28,919,255
Weighted-average shares used in computing net loss per share-diluted	54,873,675	28,919,255
Net loss per share attributable to common stockholders-basic	$ (1.84)	$ (2.45)
Net loss per share attributable to common stockholders-diluted	$ (1.84)	$ (2.45)