Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Numerator:
Net loss	$ (23,788)	$ (21,659)	$ (22,737)	$ (18,554)	$ (18,370)	$ (13,723)	$ (68,184)	$ (50,647)
Cumulative dividends on redeemable convertible preferred stock								(1,228)
Net loss attributable to common stockholders	$ (23,788)			$ (18,554)			$ (68,184)	$ (51,875)
Denominator, basic
Weighted-average number of common shares outstanding, basic	38,009,022			36,934,311			37,582,463	32,067,535
Net loss per share attributable to common stockholders, basic	$ (0.63)			$ (0.50)			$ (1.81)	$ (1.62)
Denominator, diluted
Weighted-average number of common shares outstanding, diluted	38,009,022			36,934,311			37,582,463	32,067,535
Net loss per share attributable to common stockholders, diluted	$ (0.63)			$ (0.50)			$ (1.81)	$ (1.62)