Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended		12 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021	Dec. 31, 2021	Mar. 31, 2022
Class Of Stock [Line Items]
Beginning balances	$ 142,634		$ 142,634		$ 210,821
Proceeds from issuance of common stock				$ 75,001
Common stock, shares issued (in shares)	36,365,317		36,365,317		35,799,233
Stock-based compensation	$ 3,588	$ 4,366	$ 11,062	$ 21,307
Total fair value of options vested			$ 5,400
Total number of common shares reserved for issuance	7,578,950		7,578,950		6,247,701
Common Stock, Shares Authorized	350,000,000		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	7,578,950		7,578,950		6,247,701
Common stock authorized for issuance under plan	350,000,000		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	$ 16,400		$ 16,400
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition			3 years 1 month 6 days
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			$ 4.01
Restricted Stock Units (RSUs)
Class Of Stock [Line Items]
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount	$ 11,300		$ 11,300
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition			1 year 6 months
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		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	1,208,484		1,208,484
Common Stock, Shares Authorized	1,229,148		1,229,148		833,993
Common Stock, Capital Shares Reserved for Future Issuance	1,208,484		1,208,484
Common stock authorized for issuance under plan	1,229,148		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
Common Stock
Class Of Stock [Line Items]
Issuance of common stock for Employee Stock Purchase Plan, shares			9,482	5,280
Class B Common Stock
Class Of Stock [Line Items]
Common stock, shares issued (in shares)	1,211,959		1,211,959		1,492,059
Common Stock, Shares Authorized	15,368,569		15,368,569		15,368,569
Common stock authorized for issuance under plan	15,368,569		15,368,569		15,368,569
IPO [Member] | Maximum
Class Of Stock [Line Items]
Warrants exercise period	450 days		450 days
IPO [Member] | Minimum
Class Of Stock [Line Items]
Warrants exercise period	365 days		365 days
IPO [Member] | Common stock warrants
Class Of Stock [Line Items]
Warrants expired (unexercised)						151,088
Remaining common stock warrants outstanding and exercisable	0		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