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, 2021	Dec. 31, 2020
Numerator:
Net loss	$ (70,760)	$ (68,373)
Denominator:
Weighted-average common shares outstanding	35,121,114	7,003,742
Less: weighted-average unvested restricted shares and shares subject to repurchase	(6,201,859)	(4,719,655)
Weighted-average shares used to compute basic and diluted net loss per share attributable to common stockholders	28,919,255	2,284,087
Net loss per share attributable to common stockholders—basic and diluted	$ (2.45)	$ (29.93)