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 (loss)	Accumulated Deficit
Temporary equity, Balance at Dec. 31, 2019		$ 122,465
Temporary equity, Balance, shares at Dec. 31, 2019		85,093,688
Balance at Dec. 31, 2019	$ (78,237)			$ 5,164	$ 41	$ (83,442)
Balance, shares at Dec. 31, 2019			2,484,848
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
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
Stock-based compensation	5,021			5,021
Conversion of convertible preferred stock warrant to common stock warrant	259			259
Exercise of stock options	161			161
Exercise of stock options, shares			102,792
Vesting of early exercised stock options	80			80
Vesting of early exercised stock options, shares			156,788
Unrealized loss on available-for-sale securities, net	(40)				(40)
Net loss	(37,304)					(37,304)
Balance at Dec. 31, 2020	$ 89,279		$ 3	210,021	1	(120,746)
Balance, shares at Dec. 31, 2020	25,969,442		25,969,442
Issuance of common stock from at-the-market offering program, net of issuance costs	$ 21,661		$ 1	21,660
Issuance of common stock from at-the-market offering program, net of issuance costs, shares			15,534,172
Stock-based compensation	6,949			6,949
Exercise of stock options	$ 1,098			1,098
Exercise of stock options, shares	491,695		491,695
Issuance of common stock warrant	$ 374			374
Vesting of early exercised stock options	23			23
Vesting of early exercised stock options, shares			31,665
Issuance of common stock from employee stock purchase plan	184			184
Issuance of common stock from employee stock purchase plan, shares			81,454
Unrealized loss on available-for-sale securities, net	(6)				(6)
Net loss	(62,207)					(62,207)
Balance at Dec. 31, 2021	$ 57,355		$ 4	$ 240,309	$ (5)	$ (182,953)
Balance, shares at Dec. 31, 2021	42,108,428		42,108,428