Description of the Business - Additional Information (Details) $ / shares in Units, $ in Thousands					3 Months Ended		9 Months Ended
	Jul. 08, 2021 USD ($) $ / shares shares	May 06, 2021 USD ($)	Nov. 17, 2020 USD ($) $ / shares shares	Apr. 28, 2020 USD ($) $ / shares shares	Sep. 30, 2021 USD ($) shares	Jun. 30, 2020 shares	Sep. 30, 2021 USD ($) Segments	Sep. 30, 2020 USD ($)	Dec. 31, 2020 USD ($)
Description Of Business [Line Items]
Number of operating segments | Segments							1
Accumulated deficit					$ 222,337		$ 222,337		$ 166,393
Proceeds from issuance of common stock pursuant to public offering							$ 50,000	$ 138,000
At-The-Market Sales Agreement and Offering
Description Of Business [Line Items]
Sale of Stock, Number of Shares Issued in Transaction | shares	2,597,402
Proceeds from issuance of common stock pursuant to public offering	$ 50,000
Sale of Stock, Price Per Share | $ / shares	$ 19.25
At-The-Market Sales Agreement and Offering | Maximum
Description Of Business [Line Items]
Sales of common stock		$ 150,000
Common Stock
Description Of Business [Line Items]
Shares of common stock issued | shares					2,597,402
Proceeds from issuance of common stock pursuant to initial public offering				$ 138,000
Underwriting discounts and commissions and other offering expenses				12,800
Net proceeds from IPO				$ 125,200
Convertible preferred stock outstanding converted into shares of common stock | shares				19,278,606
Reverse stock split				one-for-four
Reverse stock split ratio				0.25
Common Stock | Initial Public Offering
Description Of Business [Line Items]
Shares of common stock issued | shares				8,625,000		8,625,000
Price per share of common stock | $ / shares				$ 16.00
Common Stock | Option to Purchase Additional Shares | Maximum
Description Of Business [Line Items]
Shares of common stock issued | shares			756,000	1,125,000
Common Stock | Secondary Public Offering
Description Of Business [Line Items]
Shares of common stock issued | shares			5,796,000
Price per share of common stock | $ / shares			$ 23.00
Underwriting discounts and commissions and other offering expenses			$ 8,500
Gross proceeds from secondary public offering excluding underwriting discounts and commissions and other offering expenses			133,300
Proceeds from issuance of common stock pursuant to public offering			$ 124,800
Common Stock | At-The-Market Sales Agreement and Offering
Description Of Business [Line Items]
Underwriting discounts and commissions and other offering expenses	$ 1,900
Proceeds from issuance of common stock pursuant to public offering	$ 48,100