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Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands | Total | Follow On Public Offering | Initial Public Offering | At The Market Offering | Private Placement | Redeemable Convertible Preferred Stock | Common Stock | Common Stock Follow On Public Offering | Common Stock Initial Public Offering | Common Stock At The Market Offering | Common Stock Private Placement | Additional Paid-In Capital | Additional Paid-In Capital Follow On Public Offering | Additional Paid-In Capital Initial Public Offering | Additional Paid-In Capital At The Market Offering | Additional Paid-In Capital Private Placement | Accumulated Other Comprehensive Income (Loss) | Accumulated Deficit
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Redeemable convertible preferred stock, beginning balance at Dec. 31, 2018 |  |  |  |  |  | $ 138,391 |  |  |  |  |  |  |  |  |  |  |  |
Redeemable convertible preferred stock, beginning balance, shares at Dec. 31, 2018 |  |  |  |  |  | 13,139,794 |  |  |  |  |  |  |  |  |  |  |  |
Conversion of redeemable convertible preferred stock into common stock |  |  |  |  |  | $ (138,391) |  |  |  |  |  |  |  |  |  |  |  |
Conversion of redeemable convertible preferred stock into common stock, shares |  |  |  |  |  | (13,139,794) |  |  |  |  |  |  |  |  |  |  |  |
Beginning balance at Dec. 31, 2018 | $ (48,948) |  |  |  |  |  |  |  |  |  |  | $ 1,599 |  |  |  |  | $ (31) | $ (50,516)
Beginning balance, shares at Dec. 31, 2018 |  |  |  |  |  |  | 1,335,690 |  |  |  |  |  |  |  |  |  |  |
Conversion of redeemable convertible preferred stock into common stock | 138,391 |  |  |  |  |  | $ 1 |  |  |  |  | 138,390 |  |  |  |  |  |
Conversion of redeemable convertible preferred stock into common stock, shares |  |  |  |  |  |  | 13,139,794 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance cost |  |  | $ 50,247 |  |  |  |  |  | $ 1 |  |  |  |  | $ 50,246 |  |  |  |
Issuance of common stock, net of issuance costs, shares |  |  |  |  |  |  |  |  | 5,750,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon exercise of stock options | 307 |  |  |  |  |  |  |  |  |  |  | 307 |  |  |  |  |  |
Issuance of common stock upon exercise of stock options, shares |  |  |  |  |  |  | 135,563 |  |  |  |  |  |  |  |  |  |  |
Early exercised common stock options, shares |  |  |  |  |  |  | 2,112 |  |  |  |  |  |  |  |  |  |  |
Repurchase of early exercised shares, shares |  |  |  |  |  |  | (23,698) |  |  |  |  |  |  |  |  |  |  |
Vesting of early exercised common stock options and restricted stock | 114 |  |  |  |  |  |  |  |  |  |  | 114 |  |  |  |  |  |
Stock-based compensation | 2,168 |  |  |  |  |  |  |  |  |  |  | 2,168 |  |  |  |  |  |
Other comprehensive income (loss) | 96 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 96 |
Net loss | (41,975) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (41,975)
Ending balance at Dec. 31, 2019 | 100,400 |  |  |  |  |  | $ 2 |  |  |  |  | 192,824 |  |  |  |  | 65 | (92,491)
Ending balance, shares at Dec. 31, 2019 |  |  |  |  |  |  | 20,339,461 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance cost |  | $ 100,664 |  | $ 6,582 | $ 19,988 |  |  | $ 1 |  |  |  |  | $ 100,663 |  | $ 6,582 | $ 19,988 |  |
Issuance of common stock, net of issuance costs, shares |  |  |  |  |  |  |  | 7,166,667 |  | 410,896 | 1,333,333 |  |  |  |  |  |  |
Issuance of common stock upon exercise of stock options | 1,202 |  |  |  |  |  |  |  |  |  |  | 1,202 |  |  |  |  |  |
Issuance of common stock upon exercise of stock options, shares |  |  |  |  |  |  | 256,583 |  |  |  |  |  |  |  |  |  |  |
Employee stock purchase plan (ESPP) purchase | $ 326 |  |  |  |  |  |  |  |  |  |  | 326 |  |  |  |  |  |
Employee stock purchase plan (ESPP) purchase, shares |  |  |  |  |  |  | 40,794 |  |  |  |  |  |  |  |  |  |  |
Repurchase of early exercised shares, shares | (10,518) |  |  |  |  |  | (10,518) |  |  |  |  |  |  |  |  |  |  |
Vesting of early exercised common stock options and restricted stock | $ 56 |  |  |  |  |  |  |  |  |  |  | 56 |  |  |  |  |  |
Stock-based compensation | 3,609 |  |  |  |  |  |  |  |  |  |  | 3,609 |  |  |  |  |  |
Other comprehensive income (loss) | (58) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (58) |
Net loss | (34,495) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (34,495)
Ending balance at Dec. 31, 2020 | 198,274 |  |  |  |  |  | $ 3 |  |  |  |  | 325,250 |  |  |  |  | 7 | (126,986)
Ending balance, shares at Dec. 31, 2020 |  |  |  |  |  |  | 29,537,216 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of issuance cost |  | $ 85,990 |  | $ 57,263 |  |  |  | $ 1 |  |  |  |  | $ 85,989 |  | $ 57,263 |  |  |
Issuance of common stock, net of issuance costs, shares |  |  |  |  |  |  |  | 5,333,333 |  | 3,407,872 |  |  |  |  |  |  |  |
Issuance of common stock upon exercise of stock options | 1,510 |  |  |  |  |  |  |  |  |  |  | 1,510 |  |  |  |  |  |
Issuance of common stock upon exercise of stock options, shares |  |  |  |  |  |  | 211,900 |  |  |  |  |  |  |  |  |  |  |
Employee stock purchase plan (ESPP) purchase | $ 697 |  |  |  |  |  |  |  |  |  |  | 697 |  |  |  |  |  |
Employee stock purchase plan (ESPP) purchase, shares |  |  |  |  |  |  | 50,037 |  |  |  |  |  |  |  |  |  |  |
Repurchase of early exercised shares, shares | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Repurchase of unvested restricted stock |  |  |  |  |  |  | (7,313) |  |  |  |  |  |  |  |  |  |  |
Vesting of early exercised common stock options and restricted stock | $ 24 |  |  |  |  |  |  |  |  |  |  | 24 |  |  |  |  |  |
Stock-based compensation | 8,237 |  |  |  |  |  |  |  |  |  |  | 8,237 |  |  |  |  |  |
Other comprehensive income (loss) | (719) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (719) |
Net loss | (49,762) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (49,762)
Ending balance at Dec. 31, 2021 | $ 301,514 |  |  |  |  |  | $ 4 |  |  |  |  | $ 478,970 |  |  |  |  | $ (712) | $ (176,748)
Ending balance, shares at Dec. 31, 2021 |  |  |  |  |  |  | 38,533,045 |  |  |  |  |  |  |  |  |  |  |

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