Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		12 Months Ended
	Mar. 31, 2022	Mar. 31, 2021	Dec. 31, 2021
Class Of Stock [Line Items]
Beginning balances	$ 190,053		$ 210,821
Common stock, shares issued (in shares)	35,891,284		35,799,233
Stock-based compensation	$ 3,632	$ 4,643
Total fair value of options vested	$ 900
Total number of common shares reserved for issuance	7,811,264		6,247,701
Common Stock, Shares Authorized	350,000,000		350,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent	15.00%
Common Stock, Capital Shares Reserved for Future Issuance	7,811,264		6,247,701
Common stock authorized for issuance under plan	350,000,000		350,000,000
Warrants Expired And Unexercised			566,586
Equity Option
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount	$ 19,600
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition	3 years 6 months
Share-based Payment Arrangement, Plan Modification, Number of Shares		7,747
Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Weighted Average Grant Date Fair Value	$ 4.42
Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount	$ 15,500
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition	2 years
Share-based Payment Arrangement, Plan Modification, Number of Shares		138,461
2020 Equity Incentive Plan [Member]
Class Of Stock [Line Items]
Common shares authorized for issuance	7,658,509		6,226,540
Shares available for awards, description	On January 1st of each year, commencing with the first January 1st following the effective date of the 2020 Plan, the shares authorized for issuance under the 2020 Plan shall be increased by a number of shares equal to the lesser of 4% of the total number of shares outstanding on the immediately preceding December 31st and such lesser number of shares determined by the Company’s board of directors.
Vesting percentage	25.00%
Vesting period	36 months
Vesting terms, description	Awards under the 2020 Plan generally vest at 25% one year from the vesting commencement date and ratably each month thereafter for a period of 36 months, subject to continuous service.
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Total number of common shares reserved for issuance	1,217,966
Common Stock, Shares Authorized	1,229,148		833,993
Common Stock, Capital Shares Reserved for Future Issuance	1,217,966
Common stock authorized for issuance under plan	1,229,148		833,993
Share Based Compensation Arrangement By Share Based Payment Award Percentage Of Outstanding Stock Maximum	1.00%
Maximum annual increase of shares of common stock authorized for issuance	929,658
Class B Common Stock
Class Of Stock [Line Items]
Common stock, shares issued (in shares)	1,492,059		1,492,059
Common Stock, Shares Authorized	15,368,569		15,368,569
Common stock authorized for issuance under plan	15,368,569		15,368,569
IPO [Member] | Maximum
Class Of Stock [Line Items]
Warrants exercise period	450 days
IPO [Member] | Minimum
Class Of Stock [Line Items]
Warrants exercise period	365 days
IPO [Member] | Common stock warrants
Class Of Stock [Line Items]
Remaining warrant exercise, shares	151,088
Remaining common stock warrants outstanding and exercisable	0
IPO [Member] | Common stock warrants | Maximum
Class Of Stock [Line Items]
Warrants exercise period	450 days
IPO [Member] | Common stock warrants | Minimum
Class Of Stock [Line Items]
Warrants exercise period			365 days