Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Convertible Preferred Stock	Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive Income	Accumulated Deficit
Temporary equity, Balance, shares at Dec. 31, 2018		85,093,688
Temporary equity, Balance at Dec. 31, 2018		$ 122,465
Balance, shares at Dec. 31, 2018			2,249,749
Balance at Dec. 31, 2018	$ (51,465)			$ 3,097	$ (53)	$ (54,509)
Stock-based compensation	1,932			1,932
Exercise of stock options	36			36
Exercise of stock options, shares			24,255
Vesting of early exercised stock options	99			99
Vesting of early exercised stock options, shares			210,844
Unrealized (loss) gain on available-for-sale securities, net	94				94
Net loss	$ (28,933)					(28,933)
Temporary equity, Balance, shares at Dec. 31, 2019	85,093,688	85,093,688
Temporary equity, Balance at Dec. 31, 2019	$ 122,465	$ 122,465
Balance, shares at Dec. 31, 2019	2,484,848		2,484,848
Balance at Dec. 31, 2019	$ (78,237)			5,164	41	(83,442)
Issuance of common stock from initial public offering, net of issuance costs	76,874		$ 1	76,873
Issuance of common stock from initial public offering, net of issuance costs, shares			6,540,000
Conversion of preferred stock to common stock from completion of initial public offering	122,465		$ 2	122,463
Temporary equity, Conversion of preferred stock to common stock from completion of initial public offering, shares		(85,093,688)
Temporary equity, Conversion of preferred stock to common stock from completion of initial public offering		$ (122,465)
Conversion of preferred stock to common stock from completion of initial public offering, shares			16,685,014
Conversion of convertible preferred stock warrant to common stock warrant	259			259
Stock-based compensation	5,021			5,021
Exercise of stock options	$ 161			161
Exercise of stock options, shares	102,792		102,792
Vesting of early exercised stock options	$ 80			80
Vesting of early exercised stock options, shares			156,788
Unrealized (loss) gain on available-for-sale securities, net	(40)				(40)
Net loss	$ (37,304)					(37,304)
Temporary equity, Balance, shares at Dec. 31, 2020	0
Balance, shares at Dec. 31, 2020	25,969,442		25,969,442
Balance at Dec. 31, 2020	$ 89,279		$ 3	$ 210,021	$ 1	$ (120,746)