Net Loss Per Share - 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	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Numerator:
Net loss	$ (22,890)	$ (17,258)	$ (16,366)	$ (12,606)	$ (8,399)	$ (5,852)	$ (56,514)	$ (26,857)
Denominator:
Weighted-average common shares outstanding, basic	29,319,042			29,001,213			29,214,549	22,105,321
Weighted-average common shares outstanding, diluted	29,319,042			29,001,213			29,214,549	22,105,321
Net loss per share, basic	$ (0.78)			$ (0.43)			$ (1.93)	$ (1.21)
Net loss per share, diluted	$ (0.78)			$ (0.43)			$ (1.93)	$ (1.21)