CONSOLIDATED STATEMENTS OF REDEEMABLE CONVERTIBLE PREFERRED STOCK AND STOCKHOLDERS' EQUITY (DEFICIT) - USD ($) $ in Thousands	Total	Initial Public Offering	Follow-on Offering	At The Market Equity Offering	Common Stock	Common Stock Initial Public Offering	Common Stock Follow-on Offering	Common Stock At The Market Equity Offering	Additional Paid-In Capital	Additional Paid-In Capital Initial Public Offering	Additional Paid-In Capital Follow-on Offering	Additional Paid-In Capital At The Market Equity Offering	Accumulated Other Comprehensive Income	Accumulated Deficit	Redeemable Convertible Preferred Stock	Series C Preferred Stock
Beginning balance at Dec. 31, 2018	$ (108,422)								$ 1,300					$ (109,722)
Redeemable convertible preferred stock, beginning balance, shares at Dec. 31, 2018															29,595,909
Redeemable convertible preferred stock, beginning balance at Dec. 31, 2018															$ 205,081
Beginning balance, shares at Dec. 31, 2018					3,208,924
Issuance of redeemable convertible preferred stock, net of issuance costs, value																$ 100,028
Issuance of redeemable convertible preferred stock, net of issuance costs, shares																10,004,514
Issuance of common stock pursuant to stock option exercises	114								114
Issuance of common stock pursuant to stock option exercises, shares					70,250
Issuance of common stock pursuant to early exercised stock options, shares					100,860
Vesting of early exercised stock options	163								163
Repurchases of early exercised stock, shares					(87,910)
Stock-based compensation expense	3,161								3,161
Net unrealized gains (loss) on marketable securities	74												$ 74
Net loss	(47,664)													(47,664)
Ending balance at Dec. 31, 2019	(152,574)								4,738				74	(157,386)
Redeemable convertible preferred stock, ending balance, shares at Dec. 31, 2019															39,600,423
Redeemable convertible preferred stock, ending balance at Dec. 31, 2019															$ 305,109
Ending balance, shares at Dec. 31, 2019					3,292,124
Conversion of redeemable convertible preferred stock into common stock	305,109				$ 4				305,105						$ (305,109)
Conversion of redeemable convertible preferred stock into common stock, shares					39,600,423										(39,600,423)
Issuance of common stock from offering, net of offering costs		$ 250,697	$ 167,767			$ 2	$ 1			$ 250,695	$ 167,766
Issuance of common stock from offering, net of offering costs, shares						16,100,000	6,900,000
Issuance of common stock pursuant to stock option exercises	1,877								1,877
Issuance of common stock pursuant to stock option exercises, shares					694,441
Issuance of common stock related to employee stock purchase plan	832								832
Issuance of common stock related to employee stock purchase plan, shares					29,237
Issuance of common stock related to vesting of restricted stock units, shares					1,681
Vesting of early exercised stock options	199								199
Repurchases of early exercised stock, shares					(18,158)
Stock-based compensation expense	8,886								8,886
Net unrealized gains (loss) on marketable securities	42												42
Net loss	(108,159)													(108,159)
Ending balance at Dec. 31, 2020	$ 474,676				$ 7				740,098				116	(265,545)
Redeemable convertible preferred stock, ending balance, shares at Dec. 31, 2020	0
Ending balance, shares at Dec. 31, 2020					66,599,748
Issuance of common stock from offering, net of offering costs			$ 281,145	$ 10,096			$ 1				$ 281,144	$ 10,096
Issuance of common stock from offering, net of offering costs, shares							6,666,666	339,302
Issuance of common stock pursuant to stock option exercises	$ 1,487								1,487
Issuance of common stock pursuant to stock option exercises, shares					388,695
Issuance of common stock related to employee stock purchase plan	1,875								1,875
Issuance of common stock related to employee stock purchase plan, shares					75,991
Issuance of common stock related to vesting of restricted stock units, shares					78,010
Vesting of early exercised stock options	148								148
Repurchases of early exercised stock, shares					5,793
Stock-based compensation expense	20,724								20,724
Net unrealized gains (loss) on marketable securities	(492)												(492)
Net loss	(187,091)													(187,091)
Ending balance at Dec. 31, 2021	$ 602,568				$ 8				$ 1,055,572				$ (376)	$ (452,636)
Redeemable convertible preferred stock, ending balance, shares at Dec. 31, 2021	0
Ending balance, shares at Dec. 31, 2021					74,142,619