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Statements of Cash Flows (Unaudited) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Cash flows from operating activities:      
Net loss $ (100,077) $ (89,217) $ (50,274)
Adjustments to reconcile net loss to net cash used in operating activities:      
Depreciation and amortization 1,800 1,405 1,232
Stock-based compensation expense 10,729 5,434 1,185
Change in fair value of redeemable convertible preferred stock warrant   179 (12)
Change in fair value of redeemable convertible preferred stock tranche liabilities     (3,185)
Loss on disposal of assets 97 34 1
Asset impairment charges 0 267 0
Amortization of operating right-of-use assets 1,657    
Net amortization of premiums on investments 1,406    
Changes in operating assets and liabilities:      
Prepaid expenses and other current assets (7,369) (58) (1,070)
Other assets (3,539) (75) 120
Operating lease liabilities (12,856)    
Accounts payable (12,470) 26,102 868
Accrued compensation 3,170 (130) (775)
Accrued manufacturing expenses (8,572) 7,235 3,970
Accrued expenses 4,631 2,207 718
Deferred rent and other long-term liabilities   (11) 77
Net cash used in operating activities (121,393) (46,628) (47,145)
Cash flows from investing activities:      
Purchases of property and equipment (6,555) (1,155) (1,195)
Purchases of investments (336,341)    
Maturities of investments 100,500    
Sales of investments 30,062    
Proceeds from sales of property and equipment 26 50  
Net cash used in investing activities (212,308) (1,105) (1,195)
Cash flows from financing activities:      
Payments of capital lease obligations   (61) (278)
Proceeds from initial public offering, net of underwriters' commissions and discounts   267,375  
Payment of issuance costs for initial public offering   (3,368)  
Proceeds from issuance of redeemable convertible preferred stock, net of issuance costs   109,879 42,500
Proceeds from exercise of common stock options 3,012 635 322
Proceeds from issuance of common stock under ATM Sales Program, net of issuance costs 13,896    
Proceeds from issuance of common stock related to early exercised stock options   36 120
Proceeds from issuance of common stock under the Employee Stock Purchase Plan 888 374  
Payments of deferred offering costs     (1,097)
Net cash provided by financing activities 17,796 374,870 41,567
Effect of exchange rate changes on cash and cash equivalents (439) 87 (341)
Net (decrease) increase in cash, cash equivalents and restricted cash (316,344) 327,224 (7,114)
Cash, cash equivalents and restricted cash, beginning of period 386,200 58,976 66,090
Cash, cash equivalents and restricted cash, end of period 69,856 386,200 58,976
Supplemental disclosure of cash flow information:      
Cash paid for interest 7 7 40
Supplemental disclosures of non-cash investing and financing activities:      
Purchases of property and equipment recorded in accounts payable and accrued expenses 766 494 21
Conversion of convertible preferred stock into common stock   270,190  
Stock issued for payment of accounts payable $ 10,001    
Deferred offering costs included in accounts payable and accrued expenses   $ 134 $ 33