Net Loss Per Share - Computation of Basic and Diluted Net Loss per Share Attributable to Common Stockholders, which excludes Shares Legally Outstanding (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Numerator:
Net loss	$ (23,678)	$ (24,454)
Denominator:
Weighted average common shares outstanding	37,433,685	21,507,171
Weighted average common stock outstanding subject to repurchase related to unvested early exercised stock options and restricted stock awards	(305,809)	(44,952)
Weighted average warrants to purchase common stock		36,087
Weighted average common shares outstanding - basic and diluted	37,127,876	21,498,306
Net loss per share attributable to common stockholders, basic and diluted	$ (0.64)	$ (1.14)