Summary of Significant Accounting Policies - Balance Sheet Updates (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021	Jan. 01, 2021
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Operating lease right-of-use assets	$ 4,251	$ 5,248	$ 3,507
Operating lease liabilities, current portion	1,337	1,339	852
Operating lease liabilities, net of current portion	3,175	4,166	2,933
Accrued liabilities and other	11,156	12,353	9,854
Accumulated deficit	$ (345,930)	$ (295,849)	(239,209)
As Previously Reported
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Operating lease right-of-use assets			0
Operating lease liabilities, current portion			0
Operating lease liabilities, net of current portion			0
Accrued liabilities and other			10,199
Accumulated deficit			(239,277)
Impact of Topic 842 Adoption
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Operating lease right-of-use assets			3,507
Operating lease liabilities, current portion			852
Operating lease liabilities, net of current portion			2,933
Accrued liabilities and other			(345)
Accumulated deficit			$ 68