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	5,260		5,260
Exercise of stock options	1,096		1,096
Exercise of stock options, shares		489,179
Vesting of common stock	20		20
Vesting of early exercised stock options, shares		28,262
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	1			1
Net loss	(48,681)				(48,681)
Balance at Sep. 30, 2021	47,122	$ 3	216,544	2	(169,427)
Balance, shares at Sep. 30, 2021		26,535,218
Balance at Jun. 30, 2021	63,259	$ 3	214,348	7	(151,099)
Balance, shares at Jun. 30, 2021		26,505,924
Stock-based compensation	2,154		2,154
Exercise of stock options	37		37
Exercise of stock options, shares		22,368
Vesting of common stock	5		5
Vesting of early exercised stock options, shares		6,926
Unrealized gain (loss) on available-for-sale securities, net	(5)			(5)
Net loss	(18,328)				(18,328)
Balance at Sep. 30, 2021	47,122	$ 3	216,544	2	(169,427)
Balance, shares at Sep. 30, 2021		26,535,218
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	$ 4,364		4,364
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	5			5
Net loss	(24,663)				(24,663)
Balance at Sep. 30, 2022	$ 37,065	$ 4	244,677		(207,616)
Balance, shares at Sep. 30, 2022	42,569,515	42,569,515
Balance at Jun. 30, 2022	$ 41,484	$ 4	243,595	(20)	(202,095)
Balance, shares at Jun. 30, 2022		42,569,515
Stock-based compensation	1,082		1,082
Unrealized gain (loss) on available-for-sale securities, net	20			$ 20
Net loss	(5,521)				(5,521)
Balance at Sep. 30, 2022	$ 37,065	$ 4	$ 244,677		$ (207,616)
Balance, shares at Sep. 30, 2022	42,569,515	42,569,515