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Stockholders' Equity (Deficit) - Additional Information (Details)
$ / shares in Units, $ in Thousands
 1 Months Ended 12 Months Ended 24 Months Ended
Jul. 20, 2021
$ / shares
shares
Jul. 09, 2021
Jul. 31, 2021
shares
Jan. 31, 2021
USD ($)
$ / shares
shares
Apr. 30, 2020
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2018
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Feb. 28, 2021
shares
Apr. 15, 2020
$ / shares
shares
Class of Stock [Line Items]                      
Common stock, shares authorized           800,000,000 147,027,681     156,000,000 147,027,681
Common stock, par value | $ / shares           $ 0.0001 $ 0.0001       $ 0.0001
Undesignated preferred stock authorized           80,000,000 0        
Undesignated preferred stock par value | $ / shares           $ 0.0001 $ 0.0001        
Proceeds from issuance of convertible preferred stock | $           $ 119,393 $ 136,975        
Series B-1 convertible preferred shares converted into common stock   1.2                  
Preferred stock purchase right liability | $             $ 1,615        
Shares issued and sold           121,382,547 25,189,673        
Common stock, shares outstanding           119,102,505 21,923,173        
Shares of common stock subject to repurchase           212,674 577,259        
Number of shares vested           364,585 364,582        
Share-based compensation, vesting rights description           The restricted stock vests 25% one year from the vesting commencement date and monthly thereafter over a three-year period and is subject to repurchase by the Company in the event of any voluntary or involuntary termination of services to the Company prior to vesting.          
Common Stock                      
Class of Stock [Line Items]                      
Convertible preferred stock converted into shares of common stock           71,263,685          
Shares issued and sold           121,382,547 25,189,673   22,629,158    
IPO                      
Class of Stock [Line Items]                      
Common stock, shares authorized 800,000,000                 156,000,000  
Undesignated preferred stock authorized 80,000,000                    
Undesignated preferred stock par value | $ / shares $ 0.0001                    
IPO | Common Stock                      
Class of Stock [Line Items]                      
Convertible preferred stock converted into shares of common stock 71,263,685   71,263,685                
Restricted Stock                      
Class of Stock [Line Items]                      
Shares issued               1,458,332      
Share price per share | $ / shares               $ 0.0001      
Stock vesting period               3 years      
Restricted Stock | One Year from the Vesting Commencement Date and Monthly Thereafter Over Three-year Vesting Period                      
Class of Stock [Line Items]                      
Stock vesting percentage               25.00%      
Share-based compensation, vesting rights description           The Company granted 1,795,827 shares of its restricted stock in 2018, which vest 25% one year from the vesting commencement date and monthly thereafter over a three-year period.          
Series B Agreement                      
Class of Stock [Line Items]                      
Purchase agreement termination date         Sep. 30, 2022            
Series B-1 convertible preferred shares converted into common stock         0.1            
Series A Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Convertible preferred stock, shares issued             38,103,681 38,103,681 38,103,681    
Convertible preferred stock, issue price per share | $ / shares               $ 1.667 $ 1.667    
Proceeds from issuance of convertible preferred stock | $                 $ 63,400    
Preferred shares outstanding             38,103,681        
Series B-1 Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Convertible preferred stock, shares issued             27,481,001        
Preferred shares outstanding             27,481,001        
Series B-1 Convertible Preferred Stock | Series B Agreement                      
Class of Stock [Line Items]                      
Convertible preferred stock, shares issued         27,481,001            
Convertible preferred stock, issue price per share | $ / shares         $ 5.00            
Proceeds from issuance of convertible preferred stock | $         $ 137,000            
Series B-2 Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Convertible preferred stock, shares issued             4,000,000        
Convertible preferred stock, issue price per share | $ / shares       $ 7.50     $ 7.50        
Proceeds from issuance of convertible preferred stock | $       $ 119,400              
Preferred stock purchase right liability | $           $ 9,000          
Gain (loss) for changes in fair value of convertible preferred stock purchase right liability | $             $ 7,400        
Convertible preferred stock, shares issued during period       13,175,191              
Convertible preferred stock, additional shares issued       2,756,581              
Convertible preferred stock shares issued in connection with asset acquisition             4,000,000        
Preferred shares outstanding             4,000,000        
Series B-2 Convertible Preferred Stock | Series B Agreement                      
Class of Stock [Line Items]                      
Convertible preferred stock, shares issued         13,175,191            
Convertible preferred stock, issue price per share | $ / shares         $ 7.50            
Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Convertible preferred stock, shares issued           0 69,584,682        
Convertible preferred stock, shares issued during period           15,931,772 27,481,001        
Preferred shares outstanding           0 69,584,682   38,103,681