Convertible Preferred Stock and Stockholders' Equity (Deficit) - Additional Information (Details) - USD ($)					1 Months Ended			12 Months Ended
	Aug. 12, 2021	Jul. 14, 2020	Jul. 01, 2020	Aug. 27, 2019	Aug. 31, 2019	May 31, 2019	Dec. 31, 2017	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Aug. 26, 2019
Class Of Stock [Line Items]
Capital stock, shares authorized											126,270,161
Common stock, shares authorized			100,000,000					100,000,000	100,000,000		71,919,982
Common stock, par value			$ 0.0001					$ 0.0001	$ 0.0001		$ 0.0001
Convertible preferred stock, par value											$ 0.0001
Preferred stock, shares authorized			54,350,179					54,350,179	54,350,179
Preferred stock, par value			$ 0.0001					$ 0.0001	$ 0.0001
Estimated fair value of preferred stock purchase right liability			$ 41,600,000		$ 2,800,000					$ 1,478,000
Fair Value Measurement With Unobservable Inputs Reconciliation Recurring Basis Liability Gain Loss Included In Earnings									$ (40,163,000)
Proceeds From Issuance Initial Public Offering									$ 265,096,000
Common Stock
Class Of Stock [Line Items]
Stock issued and sold									16,100,000
Stock Issued During Period Shares Conversion Of Convertible Securities									14,689,215
Common Stock | IPO
Class Of Stock [Line Items]
Stock issued and sold		16,100,000
Stock Issued During Period Shares Conversion Of Convertible Securities		14,689,215
Stock public offering price		$ 18.00
Proceeds From Issuance Initial Public Offering		$ 265,100,000
Common Stock | Underwriters Option to Purchase Additional Shares
Class Of Stock [Line Items]
Stock issued and sold		2,100,000
Maximum
Class Of Stock [Line Items]
Proceeds From Issuance Initial Public Offering	$ 150,000,000.0
Series B Convertible Promissory Notes
Class Of Stock [Line Items]
Convertible notes, beneficial conversion feature						$ (300,000)
Convertible notes accrued interest per year					7.50%
Percentage of convertible notes automatically convert into Series B convertible preferred stock price per share					85.00%
Derivative instrument						$ 1,300,000
Amortization term of interest expense using effective interest method						1 year
Change in conversion benefit resulted in adjustment to derivative instrument					$ 900,000
Loss on extinguishment of debt					800,000
Series B Convertible Promissory Notes | Previously Recorded
Class Of Stock [Line Items]
Convertible notes, beneficial conversion feature					$ (100,000)
Series A investors | Series B Convertible Promissory Notes
Class Of Stock [Line Items]
Number of convertible promissory notes issued						$ 6,000,000
Convertible notes accrued interest per year						7.50%
Convertible notes original maturity date from issuance date						1 year
Series A investors | Series B Convertible Promissory Notes | Maximum
Class Of Stock [Line Items]
Percentage of convertible notes automatically convert into Series B convertible preferred stock price per share						85.00%
Series A investors | Series B Convertible Promissory Notes | Minimum
Class Of Stock [Line Items]
Percentage of convertible notes automatically convert into Series B convertible preferred stock price per share						80.00%
Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares authorized											54,350,179
Sale of preferred stock, net of issuance costs, Shares									27,066,206
Number of shares converted into shares								0	0	27,283,973
Convertible Preferred Stock | Common Stock | IPO
Class Of Stock [Line Items]
Stock Issued During Period Shares Conversion Of Convertible Securities			14,689,215
Series A Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares authorized											6,170,349
Stock issued and sold							3,866,602
Convertible preferred stock price per share							$ 2.07
Convertible notes, beneficial conversion feature							$ (900,000)
Series A Convertible Preferred Stock | GSK Convertible Note
Class Of Stock [Line Items]
Convertible notes outstanding shares converted into convertible preferred stock							292,633
Percentage of outstanding convertible notes into convertible preferred stock							85.00%
Series A Convertible Preferred Stock | Series A Financing investors
Class Of Stock [Line Items]
Convertible preferred stock price per share							$ 2.07
Convertible notes outstanding shares converted into convertible preferred stock							2,011,114
Percentage of outstanding convertible notes into convertible preferred stock							80.00%
Series B Convertible Preferred Stock
Class Of Stock [Line Items]
Convertible preferred stock, shares authorized											48,179,830
Convertible notes outstanding shares converted into convertible preferred stock				1
Number of shares converted into shares				10
Sale of preferred stock, net of issuance costs, Shares			27,066,206
Proceeds From Issuance Of Convertible Preferred Stock			$ 64,400,000
Series B Convertible Preferred Stock | Stock Purchase Agreement
Class Of Stock [Line Items]
Number of convertible preferred stock sold and issued during the period				27,066,206
Gross proceed from convertible preferred stock				$ 64,400,000