Organization and Description of Business (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended	12 Months Ended
	Aug. 10, 2020	Jul. 31, 2021	Dec. 31, 2021	Dec. 31, 2020
Subsidiary, Sale of Stock [Line Items]
Cash, cash equivalents, and short-term investments			$ 107,900	$ 139,800
Net loss			117,683	101,981
Net cash used in operating activities			99,682	85,169
Accumulated deficit			478,698	361,015
Working capital			107,800	129,500
Proceeds from sale of convertible preferred stock and convertible debt	$ 253,900
Number of shares issued during the period (in shares)		6,325,000
Proceeds from issuance of common stock, net of issuance costs			$ 82,657	$ 166,286
Proceeds from issuance of common stock		$ 82,700
IPO
Subsidiary, Sale of Stock [Line Items]
Number of shares issued during the period (in shares)	10,147,058
Price per share (in dollars per share)	$ 18.00
Proceeds from issuance of common stock, net of issuance costs	$ 166,300
Over-Allotment Option
Subsidiary, Sale of Stock [Line Items]
Number of shares issued during the period (in shares)	1,323,529	825,000
Price per share (in dollars per share)		$ 14.00
Public Stock Offering
Subsidiary, Sale of Stock [Line Items]
Sale of stock, consideration received on transaction		$ 88,600