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Description of the Business - Additional Information (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jul. 08, 2021
USD ($)
$ / shares
shares
May 06, 2021
USD ($)
Nov. 17, 2020
USD ($)
$ / shares
shares
Apr. 28, 2020
USD ($)
$ / shares
shares
Jun. 30, 2020
shares
Jun. 30, 2021
USD ($)
Segments
Jun. 30, 2020
USD ($)
Dec. 31, 2020
USD ($)
Description Of Business [Line Items]                
Number of operating segments | Segments           1    
Accumulated deficit           $ 203,911   $ 166,393
Proceeds from issuance of common stock pursuant to public offering             $ 138,000  
At-The-Market Sales Agreement and Offering | Maximum                
Description Of Business [Line Items]                
Sales of common stock   $ 150,000            
At-The-Market Sales Agreement and Offering | Subsequent Event                
Description Of Business [Line Items]                
Sale of Stock, Number of Shares Issued in Transaction | shares 2,597,402              
Proceeds from issuance of common stock pursuant to public offering $ 50,000              
Sale of Stock, Price Per Share | $ / shares $ 19.25              
Common Stock                
Description Of Business [Line Items]                
Proceeds from issuance of common stock pursuant to initial public offering       $ 138,000        
Underwriting discounts and commissions and other offering expenses       12,800        
Net proceeds from IPO       $ 125,200        
Convertible preferred stock outstanding converted into shares of common stock | shares       19,278,606        
Reverse stock split       one-for-four        
Reverse stock split ratio       0.25        
Common Stock | Initial Public Offering                
Description Of Business [Line Items]                
Shares of common stock issued | shares       8,625,000 8,625,000      
Price per share of common stock | $ / shares       $ 16.00        
Common Stock | Option to Purchase Additional Shares | Maximum                
Description Of Business [Line Items]                
Shares of common stock issued | shares     756,000 1,125,000        
Common Stock | Secondary Public Offering                
Description Of Business [Line Items]                
Shares of common stock issued | shares     5,796,000          
Price per share of common stock | $ / shares     $ 23.00          
Underwriting discounts and commissions and other offering expenses     $ 8,500          
Gross proceeds from secondary public offering excluding underwriting discounts and commissions and other offering expenses     133,300          
Proceeds from issuance of common stock pursuant to public offering     $ 124,800