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
	Mar. 31, 2022	Mar. 31, 2021
Numerator:
Net loss	$ (25,835)	$ (19,709)
Denominator:
Weighted-average common shares outstanding	58,010,823	11,072,344
Less: weighted-average unvested restricted shares and shares subject to repurchase	(4,005,524)	(7,647,255)
Weighted-average shares used to compute basic and diluted net loss per share attributable to common stockholders	54,005,299	3,425,089
Net loss per share attributable to common stockholders—basic and diluted	$ (0.48)	$ (5.75)