Unaudited Condensed Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit
Balance at Dec. 31, 2020	$ 89,279	$ 3	$ 210,021	$ 1	$ (120,746)
Balance, shares at Dec. 31, 2020		25,969,442
Stock-based compensation	3,106		3,106
Exercise of stock options	1,059		1,059
Exercise of stock options, shares		466,811
Vesting of common stock	15		15
Vesting of early exercised stock options, shares		21,336
Issuance of common stock from employee stock purchase plan	147		147
Issuance of common stock from employee stock purchase plan, shares		48,335
Unrealized gain (loss) on available-for-sale securities, net	6			6
Net loss	(30,353)				(30,353)
Balance at Jun. 30, 2021	63,259	$ 3	214,348	7	(151,099)
Balance, shares at Jun. 30, 2021		26,505,924
Balance at Mar. 31, 2021	76,660	$ 3	212,172	(1)	(135,514)
Balance, shares at Mar. 31, 2021		26,209,327
Stock-based compensation	1,586		1,586
Exercise of stock options	436		436
Exercise of stock options, shares		238,133
Vesting of common stock	7		7
Vesting of early exercised stock options, shares		10,129
Issuance of common stock from employee stock purchase plan	147		147
Issuance of common stock from employee stock purchase plan, shares		48,335
Unrealized gain (loss) on available-for-sale securities, net	8			8
Net loss	(15,585)				(15,585)
Balance at Jun. 30, 2021	63,259	$ 3	214,348	7	(151,099)
Balance, shares at Jun. 30, 2021		26,505,924
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
Stock-based compensation	$ 3,282		3,282
Vesting of common stock	$ 3		3
Vesting of early exercised stock options, shares	2,132	2,132
Vesting of restricted stock units		453,500
Issuance of common stock from employee stock purchase plan	$ 1		1
Issuance of common stock from employee stock purchase plan, shares		5,455
Unrealized gain (loss) on available-for-sale securities, net	(15)			(15)
Net loss	(19,142)				(19,142)
Balance at Jun. 30, 2022	$ 41,484	$ 4	243,595	(20)	(202,095)
Balance, shares at Jun. 30, 2022	42,569,515	42,569,515
Balance at Mar. 31, 2022	$ 46,450	$ 4	242,322	(43)	(195,833)
Balance, shares at Mar. 31, 2022		42,163,510
Stock-based compensation	1,272		1,272
Vesting of restricted stock units		400,550
Issuance of common stock from employee stock purchase plan	1		1
Issuance of common stock from employee stock purchase plan, shares		5,455
Unrealized gain (loss) on available-for-sale securities, net	23			23
Net loss	(6,262)				(6,262)
Balance at Jun. 30, 2022	$ 41,484	$ 4	$ 243,595	$ (20)	$ (202,095)
Balance, shares at Jun. 30, 2022	42,569,515	42,569,515