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								12 Months Ended
	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Numerator:
Net loss	$ (25,314)	$ (22,890)	$ (17,258)	$ (16,366)	$ (14,710)	$ (12,606)	$ (8,399)	$ (5,852)	$ (81,828)	$ (41,567)	$ (5,324)
Denominator:
Weighted-average common shares outstanding, basic	29,441,596	29,319,042	29,196,398	29,126,088	29,061,076	29,001,213	25,161,038	11,964,205	29,271,777	23,858,552	10,532,942
Weighted-average common shares outstanding, diluted	29,441,596	29,319,042	29,196,398	29,126,088	29,061,076	29,001,213	25,161,038	11,964,205	29,271,777	23,858,552	10,532,942
Net loss per share, basic	$ (0.86)	$ (0.78)	$ (0.59)	$ (0.56)	$ (0.51)	$ (0.43)	$ (0.33)	$ (0.49)	$ (2.80)	$ (1.74)	$ (0.51)
Net loss per share, diluted	$ (0.86)	$ (0.78)	$ (0.59)	$ (0.56)	$ (0.51)	$ (0.43)	$ (0.33)	$ (0.49)	$ (2.80)	$ (1.74)	$ (0.51)