Stock-based Compensation - Summary of Stock Option Award Activities (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Share-based Payment Arrangement [Abstract]
Options outstanding, beginning balance	1,247,158
Options granted	1,231,965
Options exercised	(26,689)
Options forfeited	(146,055)
Options outstanding, ending balance	2,306,379	1,247,158
Options exercisable	503,206
Options vested or expected to vest	1,803,173
Options outstanding, weighted average exercise price, beginning balance	$ 5.16
Options granted, weighted average exercise price	7.59
Options exercised, weighted average exercise price	(1.09)
Options forfeited, weighted average exercise price	(5.76)
Options outstanding, weighted average exercise price, ending balance	6.51	$ 5.16
Options exercisable, weighted average exercise price	6.00
Options vested or expected to vest, weighted average exercise price	$ 6.83
Options outstanding, weighted average remaining contractual term	8 years 11 months 26 days	9 years 4 months 2 days
Options exercisable, weighted average remaining contractual term	8 years 4 months 13 days
Options vested or expected to vest, weighted average remaining contractual term	9 years 1 month 28 days
Options outstanding, aggregate intrinsic value	$ 983	$ 1,486
Options exercisable, aggregate intrinsic value	544
Options vested or expected to vest, aggregate intrinsic value	$ 439