Equity Incentive Plans and Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Class Of Stock [Line Items]
Total common stock reserved for future issuance	11,043,763	11,043,763		8,535,790
Unrecognized stock based compensation expense	$ 0.5	$ 0.5
Recognized share based compensation expense		0.9
Unrecognized compensation cost related to options	$ 21.8	$ 21.8
Term of recognized expense		2 years 6 months
Common stock, shares issued	42,580,381	42,580,381		42,536,183
Common stock, par value	$ 0.0001	$ 0.0001		$ 0.0001
Liability of early exercise options, shares	427,041	427,041		599,878
Liability of early exercise options	$ 0.3	$ 0.3		$ 0.4
Employee Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Total common stock reserved for future issuance	380,000	380,000
Increase in common stock		1.00%
Employee Stock Purchase Plan Description		The ESPP permits eligible employees who elect to participate in an offering under the ESPP to have up to 15% of their eligible earnings withheld, subject to certain limitations, to purchase shares of common stock pursuant to the ESPP. The price of common stock purchased under the ESPP is equal to 85% of the lower of the fair market value of the common stock at the commencement date of each offering period or the relevant date of purchase. Each offering period is six months, with new offering periods commencing every six months on or about the dates of March 15 and September 15 of each year
Common stock, shares issued	27,518	27,518
Employee Stock Purchase Plan [Member] | Common Stock
Class Of Stock [Line Items]
Fair market value of the common stock, percentage		85.00%
Purchase of common stock through payroll deduction		15.00%
Stock Options [Member]
Class Of Stock [Line Items]
Weighted average grant fair value		$ 6.40	$ 2.67
Performance Shares [Member]
Class Of Stock [Line Items]
Stock based options outstanding and unvested		98,879
Performance-based stock options, vested	96,341
Performance-based stock options, Expense recognized	$ 0.6	$ 1.2
Restricted Stock [Member]
Class Of Stock [Line Items]
Performance-based stock options, vested		244,940	243,631
Term of recognized expense		18 days
Common stock, shares issued	2,820,560	2,820,560
Common stock, par value	$ 0.0001	$ 0.0001
Unvested founders stock outstanding	250,230	250,230		495,170
2020 Plan
Class Of Stock [Line Items]
Total common stock available for future issuance	1,032,150	1,032,150
2021 Plan
Class Of Stock [Line Items]
Total common stock reserved for future issuance	5,570,000	5,570,000
Increase in common stock		5.00%
2021 Plan | Stock Options [Member]
Class Of Stock [Line Items]
Expiration period		10 years
Vesting percentage		25.00%
Vesting period		4 years