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Organization - Additional Information (Details) - USD ($) |  |  |  |  |  |  |  | 12 Months Ended
--- | --- | --- | --- | --- | --- | --- | --- | ---
Jul. 12, 2021 | Jan. 20, 2021 | Aug. 12, 2020 | Aug. 03, 2020 | Jul. 22, 2020 | Jun. 22, 2020 | May 28, 2019 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of common stock upon public offering, net of issuance costs |  |  |  |  |  |  |  | $ 85,990,000 | $ 100,664,000 | $ 50,321,000
Accumulated deficit |  |  |  |  |  |  |  | 176,748,000 | $ 126,986,000 |
Cash, cash equivalents and marketable securities |  |  |  |  |  |  |  | 368,100,000 |  |
Common Stock |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Conversion of redeemable convertible preferred stock into common stock, shares |  |  |  |  |  |  |  |  |  | 13,139,794
Jefferies LLC | January 2021 Sales Agreement |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Common stock remained available to be sold |  |  |  |  |  |  |  | $ 73,800,000 |  |
IPO |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  |  |  |  |  |  | 5,750,000 |  |  |
Common stock, price per share |  |  |  |  |  |  | $ 10.00 |  |  |
Conversion of redeemable convertible preferred stock into common stock, shares |  |  |  |  |  |  | 13,139,794 |  |  |
Proceeds from issuance of common stock in initial public offering, net of issuance costs |  |  |  |  |  |  | $ 50,200,000 |  |  |
Underwriting discounts and commissions |  |  |  |  |  |  | 4,000,000.0 |  |  |
Offering costs |  |  |  |  |  |  | $ 3,300,000 |  |  |
IPO | Common Stock |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  |  |  |  |  |  |  |  |  | 5,750,000
Overallotment Option |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares | 695,652 |  |  |  | 500,000 |  | 750,000 |  |  |
Follow-on Public Offering |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares | 5,333,333 |  |  |  |  | 6,666,667 |  |  |  |
Common stock price per share | $ 17.25 |  |  |  |  | $ 15.00 |  |  |  |
Gross proceeds from issuance common stock |  |  |  |  | $ 7,500,000 | $ 100,000,000.0 |  |  |  |
Proceeds from issuance of common stock upon public offering, net of issuance costs | $ 86,000,000.0 |  |  |  | $ 100,700,000 |  |  |  |  |
Follow-on Public Offering | Common Stock |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  |  |  |  |  |  |  | 5,333,333 | 7,166,667 |
Private Placement | Common Stock |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  |  |  |  |  |  |  |  | 1,333,333 |
Private Placement | Glaxo Group Limited |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  |  |  | 1,333,333 |  |  |  |  |  |
Common stock price per share |  |  |  | $ 15.00 |  |  |  |  |  |
Proceeds from issuance of common stock upon public offering, net of issuance costs |  |  |  | $ 20,000,000.0 |  |  |  |  |  |
At The Market Offering | Common Stock |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  |  |  |  |  |  |  | 3,407,872 | 410,896 |
At The Market Offering | Jefferies LLC | August 2020 Sales Agreement | Common Stock | Maximum |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Sale of common stock aggregate offering price |  |  | $ 50,000,000.0 |  |  |  |  |  |  |
At The Market Offering | Jefferies LLC | January 2021 Sales Agreement | Common Stock | Maximum |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Sale of common stock aggregate offering price |  | $ 90,000,000.0 |  |  |  |  |  |  |  |
At The Market Offering | Jefferies LLC | August 2020 Sales Agreement and January 2021 Sales Agreement | Common Stock |  |  |  |  |  |  |  |  |  |
Subsidiary Sale Of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  |  |  |  |  |  |  | 3,407,872 |  |
Proceeds from issuance of common stock upon public offering, net of issuance costs |  |  |  |  |  |  |  | $ 57,300,000 |  |

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