Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) (Parenthetical) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Statement Of Stockholders Equity [Abstract]
Issuance of Series A convertible preferred stock and settlement of tranche right liability		$ 7,000	$ 84
Issuance costs of series A convertible preferred stock		22	$ 10
Issuance costs of series A2 convertible preferred stock		$ 112
Issuance costs of series B convertible preferred stock	$ 241
Issuance costs of common stock from initial public offering	$ 25,098