Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit	Total
Balances, at Beginning of period at Dec. 31, 2020	$ 3	$ 371,228		$ (33,094)	$ 338,137
Balances, at Beginning of period (in shares) at Dec. 31, 2020	39,308,238
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Vesting of early exercised stock options		372			$ 372
Vesting of early exercised stock options (in shares)	79,608				1,286,729
Vesting of restricted stock awards (in shares)	242,109
Exercise of stock options		670			$ 670
Exercise of stock options (in shares)	126,937
Issuance of shares under the employee stock purchase plan		721			721
Issuance of shares under the employee stock purchase plan (in shares)	40,371
Stock-based compensation expense		15,680			15,680
Employee stock purchase plan expense		233			233
Net unrealized loss on marketable securities			$ (149)		(149)
Net loss				(71,096)	(71,096)
Balances, at End of period at Dec. 31, 2021	$ 3	388,904	(149)	(104,190)	284,568
Balances, at End of period (in shares) at Dec. 31, 2021	39,797,263
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Vesting of early exercised stock options		124			$ 124
Vesting of early exercised stock options (in shares)	27,958				1,670,701
Vesting of restricted stock awards (in shares)	197,274				197,274
Exercise of stock options		146			$ 146
Exercise of stock options (in shares)	87,490				115,448
Issuance of shares under the employee stock purchase plan		330			$ 330
Issuance of shares under the employee stock purchase plan (in shares)	177,112
Stock-based compensation expense		18,453			18,453
Employee stock purchase plan expense		376			376
Net unrealized loss on marketable securities			(1,664)		(1,664)
Net loss				(104,787)	(104,787)
Balances, at End of period at Dec. 31, 2022	$ 3	$ 408,333	$ (1,813)	$ (208,977)	$ 197,546
Balances, at End of period (in shares) at Dec. 31, 2022	40,287,097