Net Loss Per Share - Schedule 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	$ (21,659)	$ (22,737)	$ (18,370)	$ (13,723)	$ (44,396)	$ (32,093)
Cumulative dividends on redeemable convertible preferred stock						(1,228)
Net loss attributable to common stockholders	$ (21,659)		$ (18,370)		$ (44,396)	$ (33,321)
Denominator, basic
Weighted-average number of common shares outstanding, basic	37,437,063		36,843,087		37,365,647	29,593,814
Net loss per share attributable to common stockholders, basic	$ (0.58)		$ (0.50)		$ (1.19)	$ (1.13)
Denominator, diluted
Weighted-average number of common shares outstanding, diluted	37,437,063		36,843,087		37,365,647	29,593,814
Net loss per share attributable to common stockholders, diluted	$ (0.58)		$ (0.50)		$ (1.19)	$ (1.13)